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ethercatconfig.c
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ethercatconfig.c
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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Configuration module for EtherCAT master.
*
* After successful initialisation with ec_init() or ec_init_redundant()
* the slaves can be auto configured with this module.
*/
#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercattype.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatcoe.h"
#include "ethercatsoe.h"
#include "ethercatconfig.h"
// define if debug printf is needed
//#define EC_DEBUG
#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif
typedef struct
{
int thread_n;
int running;
ecx_contextt *context;
uint16 slave;
} ecx_mapt_t;
ecx_mapt_t ecx_mapt[EC_MAX_MAPT];
OSAL_THREAD_HANDLE ecx_threadh[EC_MAX_MAPT];
#ifdef EC_VER1
/** Slave configuration structure */
typedef const struct
{
/** Manufacturer code of slave */
uint32 man;
/** ID of slave */
uint32 id;
/** Readable name */
char name[EC_MAXNAME + 1];
/** Data type */
uint8 Dtype;
/** Input bits */
uint16 Ibits;
/** Output bits */
uint16 Obits;
/** SyncManager 2 address */
uint16 SM2a;
/** SyncManager 2 flags */
uint32 SM2f;
/** SyncManager 3 address */
uint16 SM3a;
/** SyncManager 3 flags */
uint32 SM3f;
/** FMMU 0 activation */
uint8 FM0ac;
/** FMMU 1 activation */
uint8 FM1ac;
} ec_configlist_t;
#include "ethercatconfiglist.h"
#endif
/** standard SM0 flags configuration for mailbox slaves */
#define EC_DEFAULTMBXSM0 0x00010026
/** standard SM1 flags configuration for mailbox slaves */
#define EC_DEFAULTMBXSM1 0x00010022
/** standard SM0 flags configuration for digital output slaves */
#define EC_DEFAULTDOSM0 0x00010044
#ifdef EC_VER1
/** Find slave in standard configuration list ec_configlist[]
*
* @param[in] man = manufacturer
* @param[in] id = ID
* @return index in ec_configlist[] when found, otherwise 0
*/
int ec_findconfig( uint32 man, uint32 id)
{
int i = 0;
do
{
i++;
} while ( (ec_configlist[i].man != EC_CONFIGEND) &&
((ec_configlist[i].man != man) || (ec_configlist[i].id != id)) );
if (ec_configlist[i].man == EC_CONFIGEND)
{
i = 0;
}
return i;
}
#endif
void ecx_init_context(ecx_contextt *context)
{
int lp;
*(context->slavecount) = 0;
/* clean ec_slave array */
memset(context->slavelist, 0x00, sizeof(ec_slavet) * context->maxslave);
memset(context->grouplist, 0x00, sizeof(ec_groupt) * context->maxgroup);
/* clear slave eeprom cache, does not actually read any eeprom */
ecx_siigetbyte(context, 0, EC_MAXEEPBUF);
for(lp = 0; lp < context->maxgroup; lp++)
{
context->grouplist[lp].logstartaddr = lp << 16; /* default start address per group entry */
}
}
int ecx_detect_slaves(ecx_contextt *context)
{
uint8 b;
uint16 w;
int wkc;
/* make special pre-init register writes to enable MAC[1] local administered bit *
* setting for old netX100 slaves */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET3); /* Ignore Alias register */
b = EC_STATE_INIT | EC_STATE_ACK;
ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
/* netX100 should now be happy */
ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
wkc = ecx_BRD(context->port, 0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
if (wkc > 0)
{
/* this is strictly "less than" since the master is "slave 0" */
if (wkc < EC_MAXSLAVE)
{
*(context->slavecount) = wkc;
}
else
{
EC_PRINT("Error: too many slaves on network: num_slaves=%d, EC_MAXSLAVE=%d\n",
wkc, EC_MAXSLAVE);
return -2;
}
}
return wkc;
}
static void ecx_set_slaves_to_default(ecx_contextt *context)
{
uint8 b;
uint16 w;
uint8 zbuf[64];
memset(&zbuf, 0x00, sizeof(zbuf));
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLPORT , sizeof(b) , &b, EC_TIMEOUTRET3); /* deact loop manual */
w = htoes(0x0004);
ecx_BWR(context->port, 0x0000, ECT_REG_IRQMASK , sizeof(w) , &w, EC_TIMEOUTRET3); /* set IRQ mask */
ecx_BWR(context->port, 0x0000, ECT_REG_RXERR , 8 , &zbuf, EC_TIMEOUTRET3); /* reset CRC counters */
ecx_BWR(context->port, 0x0000, ECT_REG_FMMU0 , 16 * 3 , &zbuf, EC_TIMEOUTRET3); /* reset FMMU's */
ecx_BWR(context->port, 0x0000, ECT_REG_SM0 , 8 * 4 , &zbuf, EC_TIMEOUTRET3); /* reset SyncM */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DCSYNCACT , sizeof(b) , &b, EC_TIMEOUTRET3); /* reset activation register */
ecx_BWR(context->port, 0x0000, ECT_REG_DCSYSTIME , 4 , &zbuf, EC_TIMEOUTRET3); /* reset system time+ofs */
w = htoes(0x1000);
ecx_BWR(context->port, 0x0000, ECT_REG_DCSPEEDCNT , sizeof(w) , &w, EC_TIMEOUTRET3); /* DC speedstart */
w = htoes(0x0c00);
ecx_BWR(context->port, 0x0000, ECT_REG_DCTIMEFILT , sizeof(w) , &w, EC_TIMEOUTRET3); /* DC filt expr */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLALIAS , sizeof(b) , &b, EC_TIMEOUTRET3); /* Ignore Alias register */
b = EC_STATE_INIT | EC_STATE_ACK;
ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL , sizeof(b) , &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
b = 2;
ecx_BWR(context->port, 0x0000, ECT_REG_EEPCFG , sizeof(b) , &b, EC_TIMEOUTRET3); /* force Eeprom from PDI */
b = 0;
ecx_BWR(context->port, 0x0000, ECT_REG_EEPCFG , sizeof(b) , &b, EC_TIMEOUTRET3); /* set Eeprom to master */
}
#ifdef EC_VER1
static int ecx_config_from_table(ecx_contextt *context, uint16 slave)
{
int cindex;
ec_slavet *csl;
csl = &(context->slavelist[slave]);
cindex = ec_findconfig( csl->eep_man, csl->eep_id );
csl->configindex= cindex;
/* slave found in configuration table ? */
if (cindex)
{
csl->Dtype = ec_configlist[cindex].Dtype;
strcpy(csl->name ,ec_configlist[cindex].name);
csl->Ibits = ec_configlist[cindex].Ibits;
csl->Obits = ec_configlist[cindex].Obits;
if (csl->Obits)
{
csl->FMMU0func = 1;
}
if (csl->Ibits)
{
csl->FMMU1func = 2;
}
csl->FMMU[0].FMMUactive = ec_configlist[cindex].FM0ac;
csl->FMMU[1].FMMUactive = ec_configlist[cindex].FM1ac;
csl->SM[2].StartAddr = htoes(ec_configlist[cindex].SM2a);
csl->SM[2].SMflags = htoel(ec_configlist[cindex].SM2f);
/* simple (no mailbox) output slave found ? */
if (csl->Obits && !csl->SM[2].StartAddr)
{
csl->SM[0].StartAddr = htoes(0x0f00);
csl->SM[0].SMlength = htoes((csl->Obits + 7) / 8);
csl->SM[0].SMflags = htoel(EC_DEFAULTDOSM0);
csl->FMMU[0].FMMUactive = 1;
csl->FMMU[0].FMMUtype = 2;
csl->SMtype[0] = 3;
}
/* complex output slave */
else
{
csl->SM[2].SMlength = htoes((csl->Obits + 7) / 8);
csl->SMtype[2] = 3;
}
csl->SM[3].StartAddr = htoes(ec_configlist[cindex].SM3a);
csl->SM[3].SMflags = htoel(ec_configlist[cindex].SM3f);
/* simple (no mailbox) input slave found ? */
if (csl->Ibits && !csl->SM[3].StartAddr)
{
csl->SM[1].StartAddr = htoes(0x1000);
csl->SM[1].SMlength = htoes((csl->Ibits + 7) / 8);
csl->SM[1].SMflags = htoel(0x00000000);
csl->FMMU[1].FMMUactive = 1;
csl->FMMU[1].FMMUtype = 1;
csl->SMtype[1] = 4;
}
/* complex input slave */
else
{
csl->SM[3].SMlength = htoes((csl->Ibits + 7) / 8);
csl->SMtype[3] = 4;
}
}
return cindex;
}
#else
static int ecx_config_from_table(ecx_contextt *context, uint16 slave)
{
return 0;
}
#endif
/* If slave has SII and same slave ID done before, use previous data.
* This is safe because SII is constant for same slave ID.
*/
static int ecx_lookup_prev_sii(ecx_contextt *context, uint16 slave)
{
int i, nSM;
if ((slave > 1) && (*(context->slavecount) > 0))
{
i = 1;
while(((context->slavelist[i].eep_man != context->slavelist[slave].eep_man) ||
(context->slavelist[i].eep_id != context->slavelist[slave].eep_id ) ||
(context->slavelist[i].eep_rev != context->slavelist[slave].eep_rev)) &&
(i < slave))
{
i++;
}
if(i < slave)
{
context->slavelist[slave].CoEdetails = context->slavelist[i].CoEdetails;
context->slavelist[slave].FoEdetails = context->slavelist[i].FoEdetails;
context->slavelist[slave].EoEdetails = context->slavelist[i].EoEdetails;
context->slavelist[slave].SoEdetails = context->slavelist[i].SoEdetails;
if(context->slavelist[i].blockLRW > 0)
{
context->slavelist[slave].blockLRW = 1;
context->slavelist[0].blockLRW++;
}
context->slavelist[slave].Ebuscurrent = context->slavelist[i].Ebuscurrent;
context->slavelist[0].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
memcpy(context->slavelist[slave].name, context->slavelist[i].name, EC_MAXNAME + 1);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
context->slavelist[slave].SM[nSM].StartAddr = context->slavelist[i].SM[nSM].StartAddr;
context->slavelist[slave].SM[nSM].SMlength = context->slavelist[i].SM[nSM].SMlength;
context->slavelist[slave].SM[nSM].SMflags = context->slavelist[i].SM[nSM].SMflags;
}
context->slavelist[slave].FMMU0func = context->slavelist[i].FMMU0func;
context->slavelist[slave].FMMU1func = context->slavelist[i].FMMU1func;
context->slavelist[slave].FMMU2func = context->slavelist[i].FMMU2func;
context->slavelist[slave].FMMU3func = context->slavelist[i].FMMU3func;
EC_PRINT("Copy SII slave %d from %d.\n", slave, i);
return 1;
}
}
return 0;
}
/** Enumerate and init all slaves.
*
* @param[in] context = context struct
* @param[in] usetable = TRUE when using configtable to init slaves, FALSE otherwise
* @return Workcounter of slave discover datagram = number of slaves found
*/
int ecx_config_init(ecx_contextt *context, uint8 usetable)
{
uint16 slave, ADPh, configadr, ssigen;
uint16 topology, estat;
int16 topoc, slavec, aliasadr;
uint8 b,h;
uint8 SMc;
uint32 eedat;
int wkc, cindex, nSM;
uint16 val16;
EC_PRINT("ec_config_init %d\n",usetable);
ecx_init_context(context);
wkc = ecx_detect_slaves(context);
if (wkc > 0)
{
ecx_set_slaves_to_default(context);
for (slave = 1; slave <= *(context->slavecount); slave++)
{
ADPh = (uint16)(1 - slave);
val16 = ecx_APRDw(context->port, ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET3); /* read interface type of slave */
context->slavelist[slave].Itype = etohs(val16);
/* a node offset is used to improve readibility of network frames */
/* this has no impact on the number of addressable slaves (auto wrap around) */
ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET) , EC_TIMEOUTRET3); /* set node address of slave */
if (slave == 1)
{
b = 1; /* kill non ecat frames for first slave */
}
else
{
b = 0; /* pass all frames for following slaves */
}
ecx_APWRw(context->port, ADPh, ECT_REG_DLCTL, htoes(b), EC_TIMEOUTRET3); /* set non ecat frame behaviour */
configadr = ecx_APRDw(context->port, ADPh, ECT_REG_STADR, EC_TIMEOUTRET3);
configadr = etohs(configadr);
context->slavelist[slave].configadr = configadr;
ecx_FPRD(context->port, configadr, ECT_REG_ALIAS, sizeof(aliasadr), &aliasadr, EC_TIMEOUTRET3);
context->slavelist[slave].aliasadr = etohs(aliasadr);
ecx_FPRD(context->port, configadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET3);
estat = etohs(estat);
if (estat & EC_ESTAT_R64) /* check if slave can read 8 byte chunks */
{
context->slavelist[slave].eep_8byte = 1;
}
ecx_readeeprom1(context, slave, ECT_SII_MANUF); /* Manuf */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* Manuf */
context->slavelist[slave].eep_man = etohl(eedat);
ecx_readeeprom1(context, slave, ECT_SII_ID); /* ID */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* ID */
context->slavelist[slave].eep_id = etohl(eedat);
ecx_readeeprom1(context, slave, ECT_SII_REV); /* revision */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* revision */
context->slavelist[slave].eep_rev = etohl(eedat);
ecx_readeeprom1(context, slave, ECT_SII_RXMBXADR); /* write mailbox address + mailboxsize */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* write mailbox address and mailboxsize */
context->slavelist[slave].mbx_wo = (uint16)LO_WORD(etohl(eedat));
context->slavelist[slave].mbx_l = (uint16)HI_WORD(etohl(eedat));
if (context->slavelist[slave].mbx_l > 0)
{
ecx_readeeprom1(context, slave, ECT_SII_TXMBXADR); /* read mailbox offset */
}
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
if (context->slavelist[slave].mbx_l > 0)
{
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP); /* read mailbox offset */
context->slavelist[slave].mbx_ro = (uint16)LO_WORD(etohl(eedat)); /* read mailbox offset */
context->slavelist[slave].mbx_rl = (uint16)HI_WORD(etohl(eedat)); /*read mailbox length */
if (context->slavelist[slave].mbx_rl == 0)
{
context->slavelist[slave].mbx_rl = context->slavelist[slave].mbx_l;
}
ecx_readeeprom1(context, slave, ECT_SII_MBXPROTO);
}
configadr = context->slavelist[slave].configadr;
val16 = ecx_FPRDw(context->port, configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET3);
if ((etohs(val16) & 0x04) > 0) /* Support DC? */
{
context->slavelist[slave].hasdc = TRUE;
}
else
{
context->slavelist[slave].hasdc = FALSE;
}
topology = ecx_FPRDw(context->port, configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET3); /* extract topology from DL status */
topology = etohs(topology);
h = 0;
b = 0;
if ((topology & 0x0300) == 0x0200) /* port0 open and communication established */
{
h++;
b |= 0x01;
}
if ((topology & 0x0c00) == 0x0800) /* port1 open and communication established */
{
h++;
b |= 0x02;
}
if ((topology & 0x3000) == 0x2000) /* port2 open and communication established */
{
h++;
b |= 0x04;
}
if ((topology & 0xc000) == 0x8000) /* port3 open and communication established */
{
h++;
b |= 0x08;
}
/* ptype = Physical type*/
val16 = ecx_FPRDw(context->port, configadr, ECT_REG_PORTDES, EC_TIMEOUTRET3);
context->slavelist[slave].ptype = LO_BYTE(etohs(val16));
context->slavelist[slave].topology = h;
context->slavelist[slave].activeports = b;
/* 0=no links, not possible */
/* 1=1 link , end of line */
/* 2=2 links , one before and one after */
/* 3=3 links , split point */
/* 4=4 links , cross point */
/* search for parent */
context->slavelist[slave].parent = 0; /* parent is master */
if (slave > 1)
{
topoc = 0;
slavec = slave - 1;
do
{
topology = context->slavelist[slavec].topology;
if (topology == 1)
{
topoc--; /* endpoint found */
}
if (topology == 3)
{
topoc++; /* split found */
}
if (topology == 4)
{
topoc += 2; /* cross found */
}
if (((topoc >= 0) && (topology > 1)) ||
(slavec == 1)) /* parent found */
{
context->slavelist[slave].parent = slavec;
slavec = 1;
}
slavec--;
}
while (slavec > 0);
}
(void)ecx_statecheck(context, slave, EC_STATE_INIT, EC_TIMEOUTSTATE); //* check state change Init */
/* set default mailbox configuration if slave has mailbox */
if (context->slavelist[slave].mbx_l>0)
{
context->slavelist[slave].SMtype[0] = 1;
context->slavelist[slave].SMtype[1] = 2;
context->slavelist[slave].SMtype[2] = 3;
context->slavelist[slave].SMtype[3] = 4;
context->slavelist[slave].SM[0].StartAddr = htoes(context->slavelist[slave].mbx_wo);
context->slavelist[slave].SM[0].SMlength = htoes(context->slavelist[slave].mbx_l);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
context->slavelist[slave].SM[1].StartAddr = htoes(context->slavelist[slave].mbx_ro);
context->slavelist[slave].SM[1].SMlength = htoes(context->slavelist[slave].mbx_rl);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP);
context->slavelist[slave].mbx_proto = etohl(eedat);
}
cindex = 0;
/* use configuration table ? */
if (usetable == 1)
{
cindex = ecx_config_from_table(context, slave);
}
/* slave not in configuration table, find out via SII */
if (!cindex && !ecx_lookup_prev_sii(context, slave))
{
ssigen = ecx_siifind(context, slave, ECT_SII_GENERAL);
/* SII general section */
if (ssigen)
{
context->slavelist[slave].CoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x07);
context->slavelist[slave].FoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x08);
context->slavelist[slave].EoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x09);
context->slavelist[slave].SoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x0a);
if((ecx_siigetbyte(context, slave, ssigen + 0x0d) & 0x02) > 0)
{
context->slavelist[slave].blockLRW = 1;
context->slavelist[0].blockLRW++;
}
context->slavelist[slave].Ebuscurrent = ecx_siigetbyte(context, slave, ssigen + 0x0e);
context->slavelist[slave].Ebuscurrent += ecx_siigetbyte(context, slave, ssigen + 0x0f) << 8;
context->slavelist[0].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
}
/* SII strings section */
if (ecx_siifind(context, slave, ECT_SII_STRING) > 0)
{
ecx_siistring(context, context->slavelist[slave].name, slave, 1);
}
/* no name for slave found, use constructed name */
else
{
sprintf(context->slavelist[slave].name, "? M:%8.8x I:%8.8x",
(unsigned int)context->slavelist[slave].eep_man,
(unsigned int)context->slavelist[slave].eep_id);
}
/* SII SM section */
nSM = ecx_siiSM(context, slave, context->eepSM);
if (nSM>0)
{
context->slavelist[slave].SM[0].StartAddr = htoes(context->eepSM->PhStart);
context->slavelist[slave].SM[0].SMlength = htoes(context->eepSM->Plength);
context->slavelist[slave].SM[0].SMflags =
htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
SMc = 1;
while ((SMc < EC_MAXSM) && ecx_siiSMnext(context, slave, context->eepSM, SMc))
{
context->slavelist[slave].SM[SMc].StartAddr = htoes(context->eepSM->PhStart);
context->slavelist[slave].SM[SMc].SMlength = htoes(context->eepSM->Plength);
context->slavelist[slave].SM[SMc].SMflags =
htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
SMc++;
}
}
/* SII FMMU section */
if (ecx_siiFMMU(context, slave, context->eepFMMU))
{
if (context->eepFMMU->FMMU0 !=0xff)
{
context->slavelist[slave].FMMU0func = context->eepFMMU->FMMU0;
}
if (context->eepFMMU->FMMU1 !=0xff)
{
context->slavelist[slave].FMMU1func = context->eepFMMU->FMMU1;
}
if (context->eepFMMU->FMMU2 !=0xff)
{
context->slavelist[slave].FMMU2func = context->eepFMMU->FMMU2;
}
if (context->eepFMMU->FMMU3 !=0xff)
{
context->slavelist[slave].FMMU3func = context->eepFMMU->FMMU3;
}
}
}
if (context->slavelist[slave].mbx_l > 0)
{
if (context->slavelist[slave].SM[0].StartAddr == 0x0000) /* should never happen */
{
EC_PRINT("Slave %d has no proper mailbox in configuration, try default.\n", slave);
context->slavelist[slave].SM[0].StartAddr = htoes(0x1000);
context->slavelist[slave].SM[0].SMlength = htoes(0x0080);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
context->slavelist[slave].SMtype[0] = 1;
}
if (context->slavelist[slave].SM[1].StartAddr == 0x0000) /* should never happen */
{
EC_PRINT("Slave %d has no proper mailbox out configuration, try default.\n", slave);
context->slavelist[slave].SM[1].StartAddr = htoes(0x1080);
context->slavelist[slave].SM[1].SMlength = htoes(0x0080);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
context->slavelist[slave].SMtype[1] = 2;
}
/* program SM0 mailbox in and SM1 mailbox out for slave */
/* writing both SM in one datagram will solve timing issue in old NETX */
ecx_FPWR(context->port, configadr, ECT_REG_SM0, sizeof(ec_smt) * 2,
&(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
}
/* some slaves need eeprom available to PDI in init->preop transition */
ecx_eeprom2pdi(context, slave);
/* request pre_op for slave */
ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP | EC_STATE_ACK) , EC_TIMEOUTRET3); /* set preop status */
}
}
return wkc;
}
/* If slave has SII mapping and same slave ID done before, use previous mapping.
* This is safe because SII mapping is constant for same slave ID.
*/
static int ecx_lookup_mapping(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
{
int i, nSM;
if ((slave > 1) && (*(context->slavecount) > 0))
{
i = 1;
while(((context->slavelist[i].eep_man != context->slavelist[slave].eep_man) ||
(context->slavelist[i].eep_id != context->slavelist[slave].eep_id ) ||
(context->slavelist[i].eep_rev != context->slavelist[slave].eep_rev)) &&
(i < slave))
{
i++;
}
if(i < slave)
{
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
context->slavelist[slave].SM[nSM].SMlength = context->slavelist[i].SM[nSM].SMlength;
context->slavelist[slave].SMtype[nSM] = context->slavelist[i].SMtype[nSM];
}
*Osize = context->slavelist[i].Obits;
*Isize = context->slavelist[i].Ibits;
context->slavelist[slave].Obits = *Osize;
context->slavelist[slave].Ibits = *Isize;
EC_PRINT("Copy mapping slave %d from %d.\n", slave, i);
return 1;
}
}
return 0;
}
static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave, int thread_n)
{
int Isize, Osize;
int rval;
ecx_statecheck(context, slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); /* check state change pre-op */
EC_PRINT(" >Slave %d, configadr %x, state %2.2x\n",
slave, context->slavelist[slave].configadr, context->slavelist[slave].state);
/* execute special slave configuration hook Pre-Op to Safe-OP */
if(context->slavelist[slave].PO2SOconfig) /* only if registered */
{
context->slavelist[slave].PO2SOconfig(slave);
}
/* if slave not found in configlist find IO mapping in slave self */
if (!context->slavelist[slave].configindex)
{
Isize = 0;
Osize = 0;
if (context->slavelist[slave].mbx_proto & ECT_MBXPROT_COE) /* has CoE */
{
rval = 0;
if (context->slavelist[slave].CoEdetails & ECT_COEDET_SDOCA) /* has Complete Access */
{
/* read PDO mapping via CoE and use Complete Access */
rval = ecx_readPDOmapCA(context, slave, thread_n, &Osize, &Isize);
}
if (!rval) /* CA not available or not succeeded */
{
/* read PDO mapping via CoE */
rval = ecx_readPDOmap(context, slave, &Osize, &Isize);
}
EC_PRINT(" CoE Osize:%d Isize:%d\n", Osize, Isize);
}
if ((!Isize && !Osize) && (context->slavelist[slave].mbx_proto & ECT_MBXPROT_SOE)) /* has SoE */
{
/* read AT / MDT mapping via SoE */
rval = ecx_readIDNmap(context, slave, &Osize, &Isize);
context->slavelist[slave].SM[2].SMlength = htoes((Osize + 7) / 8);
context->slavelist[slave].SM[3].SMlength = htoes((Isize + 7) / 8);
EC_PRINT(" SoE Osize:%d Isize:%d\n", Osize, Isize);
}
context->slavelist[slave].Obits = Osize;
context->slavelist[slave].Ibits = Isize;
}
return 1;
}
static int ecx_map_sii(ecx_contextt *context, uint16 slave)
{
int Isize, Osize;
int nSM;
ec_eepromPDOt eepPDO;
Osize = context->slavelist[slave].Obits;
Isize = context->slavelist[slave].Ibits;
if (!Isize && !Osize) /* find PDO in previous slave with same ID */
{
(void)ecx_lookup_mapping(context, slave, &Osize, &Isize);
}
if (!Isize && !Osize) /* find PDO mapping by SII */
{
memset(&eepPDO, 0, sizeof(eepPDO));
Isize = (int)ecx_siiPDO(context, slave, &eepPDO, 0);
EC_PRINT(" SII Isize:%d\n", Isize);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
if (eepPDO.SMbitsize[nSM] > 0)
{
context->slavelist[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
context->slavelist[slave].SMtype[nSM] = 4;
EC_PRINT(" SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
}
}
Osize = (int)ecx_siiPDO(context, slave, &eepPDO, 1);
EC_PRINT(" SII Osize:%d\n", Osize);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
if (eepPDO.SMbitsize[nSM] > 0)
{
context->slavelist[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
context->slavelist[slave].SMtype[nSM] = 3;
EC_PRINT(" SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
}
}
}
context->slavelist[slave].Obits = Osize;
context->slavelist[slave].Ibits = Isize;
EC_PRINT(" ISIZE:%d %d OSIZE:%d\n",
context->slavelist[slave].Ibits, Isize,context->slavelist[slave].Obits);
return 1;
}
static int ecx_map_sm(ecx_contextt *context, uint16 slave)
{
uint16 configadr;
int nSM;
configadr = context->slavelist[slave].configadr;
EC_PRINT(" SM programming\n");
if (!context->slavelist[slave].mbx_l && context->slavelist[slave].SM[0].StartAddr)
{
ecx_FPWR(context->port, configadr, ECT_REG_SM0,
sizeof(ec_smt), &(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
EC_PRINT(" SM0 Type:%d StartAddr:%4.4x Flags:%8.8x\n",
context->slavelist[slave].SMtype[0],
context->slavelist[slave].SM[0].StartAddr,
context->slavelist[slave].SM[0].SMflags);
}
if (!context->slavelist[slave].mbx_l && context->slavelist[slave].SM[1].StartAddr)
{
ecx_FPWR(context->port, configadr, ECT_REG_SM1,
sizeof(ec_smt), &context->slavelist[slave].SM[1], EC_TIMEOUTRET3);
EC_PRINT(" SM1 Type:%d StartAddr:%4.4x Flags:%8.8x\n",
context->slavelist[slave].SMtype[1],
context->slavelist[slave].SM[1].StartAddr,
context->slavelist[slave].SM[1].SMflags);
}
/* program SM2 to SMx */
for( nSM = 2 ; nSM < EC_MAXSM ; nSM++ )
{
if (context->slavelist[slave].SM[nSM].StartAddr)
{
/* check if SM length is zero -> clear enable flag */
if( context->slavelist[slave].SM[nSM].SMlength == 0)
{
context->slavelist[slave].SM[nSM].SMflags =
htoel( etohl(context->slavelist[slave].SM[nSM].SMflags) & EC_SMENABLEMASK);
}
ecx_FPWR(context->port, configadr, (uint16)(ECT_REG_SM0 + (nSM * sizeof(ec_smt))),
sizeof(ec_smt), &context->slavelist[slave].SM[nSM], EC_TIMEOUTRET3);
EC_PRINT(" SM%d Type:%d StartAddr:%4.4x Flags:%8.8x\n", nSM,
context->slavelist[slave].SMtype[nSM],
context->slavelist[slave].SM[nSM].StartAddr,
context->slavelist[slave].SM[nSM].SMflags);
}
}
if (context->slavelist[slave].Ibits > 7)
{
context->slavelist[slave].Ibytes = (context->slavelist[slave].Ibits + 7) / 8;
}
if (context->slavelist[slave].Obits > 7)
{
context->slavelist[slave].Obytes = (context->slavelist[slave].Obits + 7) / 8;
}
return 1;
}
OSAL_THREAD_FUNC ecx_mapper_thread(void *param)
{
ecx_mapt_t *maptp;
maptp = param;
ecx_map_coe_soe(maptp->context, maptp->slave, maptp->thread_n);
maptp->running = 0;
}
static int ecx_find_mapt(void)
{
int p;
p = 0;
while((p < EC_MAX_MAPT) && ecx_mapt[p].running)
{
p++;
}
if(p < EC_MAX_MAPT)
{
return p;
}
else
{
return -1;
}
}
static int ecx_get_threadcount(void)
{
int thrc, thrn;
thrc = 0;
for(thrn = 0 ; thrn < EC_MAX_MAPT ; thrn++)
{
thrc += ecx_mapt[thrn].running;
}
return thrc;
}
static void ecx_config_find_mappings(ecx_contextt *context, uint8 group)
{
int thrn, thrc;
uint16 slave;
for (thrn = 0; thrn < EC_MAX_MAPT; thrn++)
{
ecx_mapt[thrn].running = 0;
}
/* find CoE and SoE mapping of slaves in multiple threads */
for (slave = 1; slave <= *(context->slavecount); slave++)
{
if (!group || (group == context->slavelist[slave].group))
{
if (EC_MAX_MAPT <= 1)
{
/* serialised version */
ecx_map_coe_soe(context, slave, 0);
}
else
{
/* multi-threaded version */
while ((thrn = ecx_find_mapt()) < 0)
{
osal_usleep(1000);
}
ecx_mapt[thrn].context = context;
ecx_mapt[thrn].slave = slave;
ecx_mapt[thrn].thread_n = thrn;
ecx_mapt[thrn].running = 1;
osal_thread_create(&(ecx_threadh[thrn]), 128000,
&ecx_mapper_thread, &(ecx_mapt[thrn]));
}
}
}
/* wait for all threads to finish */
do
{
thrc = ecx_get_threadcount();
if (thrc)
{
osal_usleep(1000);
}
} while (thrc);
/* find SII mapping of slave and program SM */
for (slave = 1; slave <= *(context->slavecount); slave++)
{
if (!group || (group == context->slavelist[slave].group))
{
ecx_map_sii(context, slave);
ecx_map_sm(context, slave);
}
}
}
static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap,
uint8 group, int16 slave, uint32 * LogAddr, uint8 * BitPos)
{
int BitCount = 0;
int ByteCount = 0;
int FMMUsize = 0;
int FMMUdone = 0;
uint8 SMc = 0;
uint16 EndAddr;
uint16 SMlength;
uint16 configadr;
uint8 FMMUc;
EC_PRINT(" =Slave %d, INPUT MAPPING\n", slave);
configadr = context->slavelist[slave].configadr;
FMMUc = context->slavelist[slave].FMMUunused;
if (context->slavelist[slave].Obits) /* find free FMMU */
{
while (context->slavelist[slave].FMMU[FMMUc].LogStart)
{
FMMUc++;
}
}
/* search for SM that contribute to the input mapping */
while ((SMc < (EC_MAXSM - 1)) && (FMMUdone < ((context->slavelist[slave].Ibits + 7) / 8)))
{
EC_PRINT(" FMMU %d\n", FMMUc);
while ((SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 4))
{
SMc++;
}
EC_PRINT(" SM%d\n", SMc);
context->slavelist[slave].FMMU[FMMUc].PhysStart =
context->slavelist[slave].SM[SMc].StartAddr;
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
while ((BitCount < context->slavelist[slave].Ibits) && (SMc < (EC_MAXSM - 1))) /* more SM for input */
{
SMc++;
while ((SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 4))
{
SMc++;
}
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
if (etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr)
{
break;
}
EC_PRINT(" SM%d\n", SMc);
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
}
/* bit oriented slave */
if (!context->slavelist[slave].Ibytes)
{
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(*LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = *BitPos;
*BitPos += context->slavelist[slave].Ibits - 1;
if (*BitPos > 7)
{
*LogAddr += 1;
*BitPos -= 8;
}
FMMUsize = *LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = *BitPos;
*BitPos += 1;
if (*BitPos > 7)
{
*LogAddr += 1;
*BitPos -= 8;
}
}
/* byte oriented slave */
else
{
if (*BitPos)
{
*LogAddr += 1;
*BitPos = 0;
}
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(*LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = *BitPos;
*BitPos = 7;
FMMUsize = ByteCount;
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Ibytes)
{
FMMUsize = context->slavelist[slave].Ibytes - FMMUdone;
}
*LogAddr += FMMUsize;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = *BitPos;
*BitPos = 0;
}
FMMUdone += FMMUsize;
if (context->slavelist[slave].FMMU[FMMUc].LogLength)
{
context->slavelist[slave].FMMU[FMMUc].PhysStartBit = 0;
context->slavelist[slave].FMMU[FMMUc].FMMUtype = 1;
context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
/* program FMMU for input */
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
/* add one for an input FMMU */
context->grouplist[group].inputsWKC++;
}
if (!context->slavelist[slave].inputs)
{
context->slavelist[slave].inputs =
(uint8 *)(pIOmap)+etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
context->slavelist[slave].Istartbit =
context->slavelist[slave].FMMU[FMMUc].LogStartbit;
EC_PRINT(" Inputs %p startbit %d\n",