forked from OpenEtherCATsociety/SOEM
-
Notifications
You must be signed in to change notification settings - Fork 0
/
ethercatconfig.c
1806 lines (1701 loc) · 63.3 KB
/
ethercatconfig.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* 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"
typedef struct
{
int thread_n;
int running;
ecx_contextt *context;
uint16 slave;
} ecx_mapt_t;
ecx_mapt_t ecx_mapt[EC_MAX_MAPT];
#if EC_MAX_MAPT > 1
OSAL_THREAD_HANDLE ecx_threadh[EC_MAX_MAPT];
#endif
#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++)
{
/* default start address per group entry */
context->grouplist[lp].logstartaddr = lp << EC_LOGGROUPOFFSET;
}
}
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 < context->maxslave)
{
*(context->slavecount) = wkc;
}
else
{
EC_PRINT("Error: too many slaves on network: num_slaves=%d, max_slaves=%d\n",
wkc, context->maxslave);
return EC_SLAVECOUNTEXCEEDED;
}
}
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)
{
(void)context;
(void)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 readability 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 = (uint16)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);
/* User may override automatic state change */
if (context->manualstatechange == 0)
{
/* 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, uint32 *Osize, uint32 *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 = (uint16)*Osize;
context->slavelist[slave].Ibits = (uint16)*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)
{
uint32 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 (context->slavelist[slave].PO2SOconfigx) /* only if registered */
{
context->slavelist[slave].PO2SOconfigx(context, 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:%u Isize:%u\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((uint16)((Osize + 7) / 8));
context->slavelist[slave].SM[3].SMlength = htoes((uint16)((Isize + 7) / 8));
EC_PRINT(" SoE Osize:%u Isize:%u\n", Osize, Isize);
}
context->slavelist[slave].Obits = (uint16)Osize;
context->slavelist[slave].Ibits = (uint16)Isize;
}
return 1;
}
static int ecx_map_sii(ecx_contextt *context, uint16 slave)
{
uint32 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 = ecx_siiPDO(context, slave, &eepPDO, 0);
EC_PRINT(" SII Isize:%u\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 = ecx_siiPDO(context, slave, &eepPDO, 1);
EC_PRINT(" SII Osize:%u\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 = (uint16)Osize;
context->slavelist[slave].Ibits = (uint16)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],
etohs(context->slavelist[slave].SM[0].StartAddr),
etohl(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],
etohs(context->slavelist[slave].SM[1].StartAddr),
etohl(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);
}
/* if SM length is non zero always set enable flag */
else
{
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],
etohs(context->slavelist[slave].SM[nSM].StartAddr),
etohl(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;
}
#if EC_MAX_MAPT > 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;
}
}
#endif
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
/* 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]));
#else
/* serialised version */
ecx_map_coe_soe(context, slave, 0);
#endif
}
}
/* 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 FMMUdone = 0;
int AddToInputsWKC = 0;
uint16 ByteCount = 0;
uint16 FMMUsize = 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) && (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 multiple 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 = (uint16)(*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 = (uint16)(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;