improve groups, make memory usage more efficient, fix erroneous byte …

…calculations and dc frame handling
mokemars · Mar 11, 2019 · 930d6e0 · 930d6e0
1 parent 8832ef0
commit 930d6e0
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Showing 4 changed files with 47 additions and 15 deletions.
diff --git a/soem/ethercatconfig.c b/soem/ethercatconfig.c
@@ -111,7 +111,8 @@ void ecx_init_context(ecx_contextt *context)
    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 */
+      /* default start address per group entry */
+      context->grouplist[lp].logstartaddr = lp << EC_LOGGROUPOFFSET;
    }
 }
 
@@ -992,8 +993,19 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
       }
       if (!context->slavelist[slave].inputs)
       {
-         context->slavelist[slave].inputs =
-            (uint8 *)(pIOmap)+etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
+         if (group)
+         {
+            context->slavelist[slave].inputs =
+               (uint8 *)(pIOmap) + 
+               etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) - 
+               context->grouplist[group].logstartaddr;
+         }
+         else
+         {
+            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",
@@ -1109,8 +1121,19 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
       context->grouplist[group].outputsWKC++;
       if (!context->slavelist[slave].outputs)
       {
-         context->slavelist[slave].outputs =
-            (uint8 *)(pIOmap)+etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
+         if (group)
+         {
+            context->slavelist[slave].outputs =
+               (uint8 *)(pIOmap) + 
+               etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) - 
+               context->grouplist[group].logstartaddr;
+         }
+         else
+         {
+            context->slavelist[slave].outputs =
+               (uint8 *)(pIOmap) + 
+               etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
+         }
          context->slavelist[slave].Ostartbit =
             context->slavelist[slave].FMMU[FMMUc].LogStartbit;
          EC_PRINT("    slave %d Outputs %p startbit %d\n",
@@ -1204,14 +1227,15 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
          }
       }
       context->grouplist[group].outputs = pIOmap;
-      context->grouplist[group].Obytes = LogAddr;
+      context->grouplist[group].Obytes = LogAddr - context->grouplist[group].logstartaddr;
       context->grouplist[group].nsegments = currentsegment + 1;
       context->grouplist[group].Isegment = currentsegment;
       context->grouplist[group].Ioffset = segmentsize;
       if (!group)
       {
          context->slavelist[0].outputs = pIOmap;
-         context->slavelist[0].Obytes = LogAddr; /* store output bytes in master record */
+         context->slavelist[0].Obytes = LogAddr - 
+            context->grouplist[group].logstartaddr; /* store output bytes in master record */
       }
 
       /* do input mapping of slave and program FMMUs */
@@ -1274,11 +1298,15 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
       context->grouplist[group].IOsegment[currentsegment] = segmentsize;
       context->grouplist[group].nsegments = currentsegment + 1;
       context->grouplist[group].inputs = (uint8 *)(pIOmap) + context->grouplist[group].Obytes;
-      context->grouplist[group].Ibytes = LogAddr - context->grouplist[group].Obytes;
+      context->grouplist[group].Ibytes = LogAddr - 
+         context->grouplist[group].logstartaddr - 
+         context->grouplist[group].Obytes;
       if (!group)
       {
          context->slavelist[0].inputs = (uint8 *)(pIOmap) + context->slavelist[0].Obytes;
-         context->slavelist[0].Ibytes = LogAddr - context->slavelist[0].Obytes; /* store input bytes in master record */
+         context->slavelist[0].Ibytes = LogAddr - 
+            context->grouplist[group].logstartaddr - 
+            context->slavelist[0].Obytes; /* store input bytes in master record */
       }
 
       EC_PRINT("IOmapSize %d\n", LogAddr - context->grouplist[group].logstartaddr);
@@ -1391,8 +1419,8 @@ int ecx_config_overlap_map_group(ecx_contextt *context, void *pIOmap, uint8 grou
       context->grouplist[group].Isegment = 0;
       context->grouplist[group].Ioffset = 0;
 
-      context->grouplist[group].Obytes = soLogAddr;
-      context->grouplist[group].Ibytes = siLogAddr;
+      context->grouplist[group].Obytes = soLogAddr - context->grouplist[group].logstartaddr;
+      context->grouplist[group].Ibytes = siLogAddr - context->grouplist[group].logstartaddr;
       context->grouplist[group].outputs = pIOmap;
       context->grouplist[group].inputs = (uint8 *)pIOmap + context->grouplist[group].Obytes;
 
@@ -1404,10 +1432,11 @@ int ecx_config_overlap_map_group(ecx_contextt *context, void *pIOmap, uint8 grou
 
       if (!group)
       {
+         /* store output bytes in master record */
          context->slavelist[0].outputs = pIOmap;
-         context->slavelist[0].Obytes = soLogAddr; /* store output bytes in master record */
+         context->slavelist[0].Obytes = soLogAddr - context->grouplist[group].logstartaddr; 
          context->slavelist[0].inputs = (uint8 *)pIOmap + context->slavelist[0].Obytes;
-         context->slavelist[0].Ibytes = siLogAddr;
+         context->slavelist[0].Ibytes = siLogAddr - context->grouplist[group].logstartaddr;
       }
 
       EC_PRINT("IOmapSize %d\n", context->grouplist[group].Obytes + context->grouplist[group].Ibytes);

diff --git a/soem/ethercatdc.c b/soem/ethercatdc.c
@@ -281,8 +281,8 @@ boolean ecx_configdc(ecx_contextt *context)
             context->slavelist[0].hasdc = TRUE;
             context->slavelist[0].DCnext = i;
             context->slavelist[i].DCprevious = 0;
-            context->grouplist[0].hasdc = TRUE;
-            context->grouplist[0].DCnext = i;
+            context->grouplist[context->slavelist[i].group].hasdc = TRUE;
+            context->grouplist[context->slavelist[i].group].DCnext = i;
          }
          else
          {

diff --git a/soem/ethercatmain.h b/soem/ethercatmain.h
@@ -517,6 +517,7 @@ int ecx_receive_processdata_group(ecx_contextt *context, uint8 group, int timeou
 int ecx_send_processdata(ecx_contextt *context);
 int ecx_send_overlap_processdata(ecx_contextt *context);
 int ecx_receive_processdata(ecx_contextt *context, int timeout);
+int ecx_send_processdata_group(ecx_contextt *context, uint8 group);
 
 #ifdef __cplusplus
 }

diff --git a/soem/ethercattype.h b/soem/ethercattype.h
@@ -71,6 +71,8 @@ extern "C"
 #define EC_MAXEEPBUF       EC_MAXEEPBITMAP << 5
 /** default number of retries if wkc <= 0 */
 #define EC_DEFAULTRETRIES  3
+/** default group size in 2^x */
+#define EC_LOGGROUPOFFSET 16
 
 /** definition for frame buffers */
 typedef uint8 ec_bufT[EC_BUFSIZE];