libs/SOEM
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Minor D.C. cleanup

Browse Source 
- When enabling or disabling D.C., SOEM internal ec_slavet attributes
will be updated to reflect the new settings
- Changed CyclShift parameter to a signed integer to conform with the
rest of code
- Corrected some spelling mistakes
This commit is contained in:
Jeffrey Gorchynski 2016-03-29 12:03:38 -04:00
parent aaab1b38b1
commit 44b7340c2c
3 changed files with 22 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
soem/ethercatdc.c
View File

@ -68,7 +68,7 @@
* @param [in] CyclTime Cycltime in ns. * @param [in] CyclTime Cycltime in ns.
* @param [in] CyclShift CyclShift in ns. * @param [in] CyclShift CyclShift in ns.
*/ */
void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift) void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift)
{ {
uint8 h, RA; uint8 h, RA;
uint16 slaveh; uint16 slaveh;
@ -108,6 +108,11 @@ void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTi
tc = htoel(CyclTime); tc = htoel(CyclTime);
(void)ecx_FPWR(context->port, slaveh, ECT_REG_DCCYCLE0, sizeof(tc), &tc, EC_TIMEOUTRET); /* SYNC0 cycle time */ (void)ecx_FPWR(context->port, slaveh, ECT_REG_DCCYCLE0, sizeof(tc), &tc, EC_TIMEOUTRET); /* SYNC0 cycle time */
(void)ecx_FPWR(context->port, slaveh, ECT_REG_DCSYNCACT, sizeof(RA), &RA, EC_TIMEOUTRET); /* activate cyclic operation */ (void)ecx_FPWR(context->port, slaveh, ECT_REG_DCSYNCACT, sizeof(RA), &RA, EC_TIMEOUTRET); /* activate cyclic operation */
// update ec_slave state
context->slavelist[slave].DCactive = (uint8)act;
context->slavelist[slave].DCshift = CyclShift;
context->slavelist[slave].DCcycle = CyclTime;
} }
/** /**
@ -122,7 +127,7 @@ void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTi
as SYNC0. as SYNC0.
* @param [in] CyclShift CyclShift in ns. * @param [in] CyclShift CyclShift in ns.
*/ */
void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift) void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift)
{ {
uint8 h, RA; uint8 h, RA;
uint16 slaveh; uint16 slaveh;
@ -168,6 +173,11 @@ void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclT
tc = htoel(CyclTime1); tc = htoel(CyclTime1);
(void)ecx_FPWR(context->port, slaveh, ECT_REG_DCCYCLE1, sizeof(tc), &tc, EC_TIMEOUTRET); /* SYNC1 cycle time */ (void)ecx_FPWR(context->port, slaveh, ECT_REG_DCCYCLE1, sizeof(tc), &tc, EC_TIMEOUTRET); /* SYNC1 cycle time */
(void)ecx_FPWR(context->port, slaveh, ECT_REG_DCSYNCACT, sizeof(RA), &RA, EC_TIMEOUTRET); /* activate cyclic operation */ (void)ecx_FPWR(context->port, slaveh, ECT_REG_DCSYNCACT, sizeof(RA), &RA, EC_TIMEOUTRET); /* activate cyclic operation */
// update ec_slave state
context->slavelist[slave].DCactive = (uint8)act;
context->slavelist[slave].DCshift = CyclShift;
context->slavelist[slave].DCcycle = CyclTime0;
} }
/* latched port time of slave */ /* latched port time of slave */
@ -406,17 +416,17 @@ boolean ecx_configdc(ecx_contextt *context)
ecx_porttime(context, parent, ecx_porttime(context, parent,
ecx_prevport(context, parent, context->slavelist[i].parentport)); ecx_prevport(context, parent, context->slavelist[i].parentport));
/* current slave has children */ /* current slave has children */
/* those childrens delays need to be substacted */ /* those children's delays need to be subtracted */
if (context->slavelist[i].topology > 1) if (context->slavelist[i].topology > 1)
{ {
dt1 = ecx_porttime(context, i, dt1 = ecx_porttime(context, i,
ecx_prevport(context, i, context->slavelist[i].entryport)) - ecx_prevport(context, i, context->slavelist[i].entryport)) -
ecx_porttime(context, i, context->slavelist[i].entryport); ecx_porttime(context, i, context->slavelist[i].entryport);
} }
/* we are only interrested in positive diference */ /* we are only interested in positive difference */
if (dt1 > dt3) dt1 = -dt1; if (dt1 > dt3) dt1 = -dt1;
/* current slave is not the first child of parent */ /* current slave is not the first child of parent */
/* previous childs delays need to be added */ /* previous child's delays need to be added */
if ((child - parent) > 1) if ((child - parent) > 1)
{ {
dt2 = ecx_porttime(context, parent, dt2 = ecx_porttime(context, parent,
@ -457,12 +467,12 @@ boolean ecx_configdc(ecx_contextt *context)
} }
#ifdef EC_VER1 #ifdef EC_VER1
void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift) void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift)
{ {
ecx_dcsync0(&ecx_context, slave, act, CyclTime, CyclShift); ecx_dcsync0(&ecx_context, slave, act, CyclTime, CyclShift);
} }
void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift) void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift)
{ {
ecx_dcsync01(&ecx_context, slave, act, CyclTime0, CyclTime1, CyclShift); ecx_dcsync01(&ecx_context, slave, act, CyclTime0, CyclTime1, CyclShift);
} }

8
soem/ethercatdc.h
View File

@ -54,13 +54,13 @@ extern "C"
#ifdef EC_VER1 #ifdef EC_VER1
boolean ec_configdc(); boolean ec_configdc();
void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift); void ec_dcsync0(uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift);
void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift); void ec_dcsync01(uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift);
#endif #endif
boolean ecx_configdc(ecx_contextt *context); boolean ecx_configdc(ecx_contextt *context);
void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, uint32 CyclShift); void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime, int32 CyclShift);
void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, uint32 CyclShift); void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTime0, uint32 CyclTime1, int32 CyclShift);
#ifdef __cplusplus #ifdef __cplusplus
} }

2
soem/ethercatmain.h
View File

@ -227,7 +227,7 @@ typedef struct
uint16 DCnext; uint16 DCnext;
/** previous DC slave */ /** previous DC slave */
uint16 DCprevious; uint16 DCprevious;
/** DC cyle time in ns */ /** DC cycle time in ns */
int32 DCcycle; int32 DCcycle;
/** DC shift from clock modulus boundary */ /** DC shift from clock modulus boundary */
int32 DCshift; int32 DCshift;