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feat: Rework SM flags and support multiple SMs #29

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61 changes: 44 additions & 17 deletions include/libethercat/slave.h
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Original file line number Diff line number Diff line change
Expand Up @@ -92,23 +92,50 @@ typedef osal_uint16_t ec_state_transition_t;

//! slave sync manager settings
typedef struct PACKED ec_slave_sm {
osal_uint16_t adr; //!< sync manager address
/*!<
* This field specifies the physical address
* where the sync manager starts.
*/

osal_uint16_t len; //!< sync manager length
/*!>
* This field specifies the length of the sync
* manager
*/

osal_uint32_t flags; //!< sync manager flags
/*!<
* Sync manager flags according to EtherCAT
* specifications
*/
osal_uint16_t adr; //!< sync manager address
/*!<
* This field specifies the physical address
* where the sync manager starts.
*/

osal_uint16_t len; //!< sync manager length
/*!<
* This field specifies the length of the sync
* manager
*/
osal_uint8_t control_register; //!< control register
/*!<
* Defines Mode of Operation
*/
osal_uint8_t status_regsiter; //!< status register
/*!<
* don’t care
*/
osal_uint8_t enable_sm; //!< enable sync manager
/*!<
* Bit 0: enable
* Bit 1: fixed content
* Bit 2: virtual SyncManager
* Bit 3: opOnly
* Bit 7:4: reserved
*/
osal_uint8_t sm_type; //!< sync manager type
/*!<
* 0x00 = not used or unknown
* 0x01 = used for mailbox out
* 0x02 = used for mailbox in
* 0x03 = used for process data outputs
* 0x04 = used for process data inputs
* 0x05 = used for dynamic process data outputs
* 0x06 = used for dynamic process data inputs
*/


// osal_uint32_t flags; //!< sync manager flags
// /*!<
// * Sync manager flags according to EtherCAT
// * specifications
// */
} PACKED ec_slave_sm_t;

//! slave fielbus memory management unit (fmmu) settings
Expand Down
51 changes: 48 additions & 3 deletions src/coe.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1129,14 +1129,31 @@ int ec_coe_generate_mapping(ec_t *pec, osal_uint16_t slave) {
start_adr = slv->sm[1].adr + slv->sm[1].len;
}

for (osal_uint32_t sm_idx = 2u; sm_idx <= 3u; ++sm_idx) {
for (osal_uint32_t sm_idx = 2u; sm_idx < LEC_MAX_SLAVE_SM; ++sm_idx) {
if (slv->sm[sm_idx].adr == 0) {
// We break the loop when we found a zero address because this means end of the list.
break;
}
osal_uint32_t bit_len = 0u;
osal_uint32_t idx = 0x1c10u + sm_idx;
osal_uint8_t entry_cnt = 0u;
osal_uint8_t entry_cnt_2 = 0u;
osal_size_t entry_cnt_size = sizeof(entry_cnt);
osal_uint8_t sm_type = 0u;
osal_uint32_t abort_code = 0u;

// read sm type
buf = (osal_uint8_t *)&sm_type;
ret = ec_coe_sdo_read(pec, slave, 0x1C00, sm_idx, 0, buf, &entry_cnt_size, &abort_code);
if (ret != 0 || abort_code != 0) {
ec_log(5, "COE_MAPPING", "slave %2d: sm%u reading "
"sm type failed, error code 0x%X/0x%X\n", slave, sm_idx, ret,abort_code);
sm_type = 0;
} else {
ec_log(100, "COE_MAPPING", "slave %2d: sm%u reading "
"sm type 0x%X\n", slave, sm_idx, sm_type);
}

// read count of mapping entries, stored in subindex 0
// mapped entreis are stored at 0x1c12 and 0x1c13 and should usually be
// written in state preop with an init command
Expand All @@ -1146,7 +1163,10 @@ int ec_coe_generate_mapping(ec_t *pec, osal_uint16_t slave) {
if (abort_code == 0x06020000) { // object does not exist in the object dictionary
if (slv->sm_ch > sm_idx) {
slv->sm[sm_idx].len = 0u;
slv->sm[sm_idx].flags = 0u;
slv->sm[sm_idx].control_register = 0u;
slv->sm[sm_idx].status_regsiter = 0u;
slv->sm[sm_idx].enable_sm = 0u;
slv->sm[sm_idx].sm_type = 0u;
}

ret = 0u;
Expand Down Expand Up @@ -1240,7 +1260,32 @@ int ec_coe_generate_mapping(ec_t *pec, osal_uint16_t slave) {
start_adr += slv->sm[sm_idx].len * 3u;
}

slv->sm[sm_idx].flags = (sm_idx == 2u) ? 0x10064u : 0x10020u;
switch (sm_type) {
case 0x00:
slv->sm[sm_idx].control_register = 0u;
break;
case 0x01:
slv->sm[sm_idx].control_register = 0x26u;
break;
case 0x02:
slv->sm[sm_idx].control_register = 0x22u;
break;
case 0x03:
slv->sm[sm_idx].control_register = 0x64u; // TODO: Is this right?
break;
case 0x04:
slv->sm[sm_idx].control_register = 0x20;
break;
case 0x05:
slv->sm[sm_idx].control_register = 0u; // TODO: What to write here?
break;
case 0x06:
slv->sm[sm_idx].control_register = 0u; // TODO: What to write here?
break;
}

slv->sm[sm_idx].enable_sm = 1u;
slv->sm[sm_idx].sm_type = sm_type;
}
}
}
Expand Down
8 changes: 4 additions & 4 deletions src/ec.c
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Original file line number Diff line number Diff line change
Expand Up @@ -270,7 +270,7 @@ static void ec_create_logical_mapping_overlapping(ec_t *pec, osal_uint32_t group
osal_size_t slv_pdout_len = 0u;

for (k = start_sm; k < slv->sm_ch; ++k) {
if ((slv->sm[k].flags & 0x00000004u) != 0u) {
if ((slv->sm[k].control_register & 0x04u) != 0u) {
slv_pdout_len += slv->sm[k].len; // outputs
} else {
slv_pdin_len += slv->sm[k].len; // inputs
Expand Down Expand Up @@ -325,7 +325,7 @@ static void ec_create_logical_mapping_overlapping(ec_t *pec, osal_uint32_t group
continue; // empty
}

if ((slv->sm[k].flags & 0x00000004u) != 0u) {
if ((slv->sm[k].control_register & 0x04u) != 0u) {
if (fmmu_next < slv->fmmu_ch) {
slv->fmmu[fmmu_next].log = log_base_out;
slv->fmmu[fmmu_next].log_len = slv->sm[k].len;
Expand Down Expand Up @@ -447,7 +447,7 @@ static void ec_create_logical_mapping(ec_t *pec, osal_uint32_t group) {
}

for (k = start_sm; k < slv->sm_ch; ++k) {
if ((slv->sm[k].flags & 0x00000004u) != 0u) {
if ((slv->sm[k].control_register & 0x04u) != 0u) {
pd->pdout_len += slv->sm[k].len; // outputs
} else {
pd->pdin_len += slv->sm[k].len; // inputs
Expand Down Expand Up @@ -487,7 +487,7 @@ static void ec_create_logical_mapping(ec_t *pec, osal_uint32_t group) {
continue; // empty
}

if ((slv->sm[k].flags & 0x00000004u) != 0u) {
if ((slv->sm[k].control_register & 0x04u) != 0u) {
if (fmmu_next < slv->fmmu_ch) {
slv->fmmu[fmmu_next].log = log_base_out;
slv->fmmu[fmmu_next].log_len = slv->sm[k].len;
Expand Down
9 changes: 5 additions & 4 deletions src/eeprom.c
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Original file line number Diff line number Diff line change
Expand Up @@ -640,12 +640,13 @@ void ec_eeprom_dump(ec_t *pec, osal_uint16_t slave) {
if (slv->sm[j].adr == 0u) {
slv->sm[j].adr = tmp_sms.adr;
slv->sm[j].len = tmp_sms.len;
slv->sm[j].flags = (tmp_sms.activate << 16) | tmp_sms.ctrl_reg;
slv->sm[j].enable_sm = tmp_sms.activate;
slv->sm[j].control_register = tmp_sms.ctrl_reg;

do_eeprom_log(10, "EEPROM_SM",
" sm%d adr 0x%X, len %d, flags "
"0x%X\n", j, slv->sm[j].adr, slv->sm[j].len,
slv->sm[j].flags);
" sm%d adr 0x%X, len %d, enable_sm "
"0x%X, control_register 0x%X\n", j, slv->sm[j].adr, slv->sm[j].len,
slv->sm[j].enable_sm, slv->sm[j].control_register);
} else {
do_eeprom_log(10, "EEPROM_SM", " sm%d adr "
"0x%X, len %d, flags 0x%X\n", j,
Expand Down
18 changes: 12 additions & 6 deletions src/slave.c
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Original file line number Diff line number Diff line change
Expand Up @@ -957,7 +957,8 @@ int ec_slave_state_transition(ec_t *pec, osal_uint16_t slave, ec_state_t state)
slv->sm[MAILBOX_READ].adr = slv->eeprom.mbx_send_offset;
slv->sm[MAILBOX_READ].len = slv->eeprom.mbx_send_size;
}
slv->sm[MAILBOX_READ].flags = 0x00010022;
slv->sm[MAILBOX_READ].enable_sm = 0x01;
slv->sm[MAILBOX_READ].control_register = 0x22;

// write mailbox
if ((transition == INIT_2_BOOT) &&
Expand All @@ -969,15 +970,18 @@ int ec_slave_state_transition(ec_t *pec, osal_uint16_t slave, ec_state_t state)
slv->sm[MAILBOX_WRITE].len = slv->eeprom.mbx_receive_size;
}

slv->sm[MAILBOX_WRITE].flags = 0x00010026;
slv->sm[MAILBOX_WRITE].enable_sm = 0x01;
slv->sm[MAILBOX_WRITE].control_register = 0x26;

ec_mbx_init(pec, slave);

for (osal_uint32_t sm_idx = 0u; sm_idx < 2u; ++sm_idx) {
ec_log(10, get_transition_string(transition), "slave %2d: "
"sm%u, adr 0x%04X, len %3d, flags 0x%08X\n",
"sm%u, adr 0x%04X, len %3d, enable_sm "
"0x%X, control_register 0x%X\n",
slave, sm_idx, slv->sm[sm_idx].adr,
slv->sm[sm_idx].len, slv->sm[sm_idx].flags);
slv->sm[sm_idx].len, slv->sm[sm_idx].enable_sm,
slv->sm[sm_idx].control_register);

(void)ec_fpwr(pec, slv->fixed_address, 0x800u + (sm_idx * 8u),
&slv->sm[sm_idx], sizeof(ec_slave_sm_t), &wkc);
Expand Down Expand Up @@ -1073,9 +1077,11 @@ int ec_slave_state_transition(ec_t *pec, osal_uint16_t slave, ec_state_t state)
}

ec_log(10, get_transition_string(transition), "slave %2d: "
"sm%d, adr 0x%04X, len %3d, flags 0x%08X\n",
"sm%d, adr 0x%04X, len %3d, enable_sm "
"0x%X, control_register 0x%X\n",
slave, sm_idx, slv->sm[sm_idx].adr,
slv->sm[sm_idx].len, slv->sm[sm_idx].flags);
slv->sm[sm_idx].len, slv->sm[sm_idx].enable_sm,
slv->sm[sm_idx].control_register);

(void)ec_fpwr(pec, slv->fixed_address, 0x800u + (sm_idx * 8u),
&slv->sm[sm_idx], sizeof(ec_slave_sm_t), &wkc);
Expand Down