Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat: Support the configuration of slaves to use only dc sync1 #21

Merged
merged 2 commits into from
Sep 14, 2024
Merged

feat: Support the configuration of slaves to use only dc sync1 #21

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
d972a9e
feat: Support the configuration of slaves to use only dc sync1
marcfir Sep 3, 2024
b7e43ea
feat: Use actiavtion reg 0x981 content to configure dc sync
marcfir Sep 13, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 5 additions & 1 deletion include/libethercat/dc.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,10 @@
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_NEAR_FUTURE_CONFIG ( 0x40u )
#define EC_REG_DCSYNCACT__SYNC_OUT_UNIT_DEBUG_PULSE ( 0x80u )

#define EC_DC_ACTIVATION_REG_SYNC0 ( 0x3 )
#define EC_DC_ACTIVATION_REG_SYNC1 ( 0x5 )
#define EC_DC_ACTIVATION_REG_SYNC01 ( 0x7 )

typedef struct ec_dc_info_slave {
int use_dc; //!< \brief flag, whether to use dc
int next; //!< \brief marker for next dc slave
Expand All @@ -73,7 +77,7 @@ typedef struct ec_dc_info_slave {
osal_int32_t t_delay_slave;
osal_int32_t t_delay_parent_previous;

int type; //!< \brief dc type, 0 = sync0, 1 = sync01
int activation_reg; //!< \brief DC Sync Activation Register (0x981). 0x3 = Sync0, 0x5 = Sync1, 0x7 = Sync01
osal_uint32_t cycle_time_0; //!< \brief cycle time of sync 0 [ns]
osal_uint32_t cycle_time_1; //!< \brief cycle time of sync 1 [ns]
osal_int32_t cycle_shift; //!< \brief cycle shift time [ns]
Expand Down
24 changes: 14 additions & 10 deletions include/libethercat/slave.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -521,16 +521,20 @@ void ec_slave_add_init_cmd(ec_t *pec, osal_uint16_t slave, ec_init_cmd_t *cmd);

//! Set Distributed Clocks config to slave
/*!
* \param[in] pec Pointer to ethercat master structure,
* which you got from \link ec_open \endlink.
* \param[in] slave Number of ethercat slave. this depends on
* the physical order of the ethercat slaves
* (usually the n'th slave attached).
* \param[in] use_dc Whether to en-/disable dc on slave.
* \param[in] type DC type, 0 = sync0, 1 = sync01.
* \param[in] cycle_time_0 Cycle time of sync 0 [ns].
* \param[in] cycle_time_1 Cycle time of sync 1 [ns].
* \param[in] cycle_shift Cycle shift time [ns].
* \param[in] pec Pointer to ethercat master structure,
* which you got from \link ec_open \endlink.
* \param[in] slave Number of ethercat slave. this depends on
* the physical order of the ethercat slaves
* (usually the n'th slave attached).
* \param[in] use_dc Whether to en-/disable dc on slave.
* \param[in] activation_reg DC Sync Activation Register (0x981). Sets
* the type of DC sync:
* * 0x3 = Sync0
* * 0x5 = Sync1
* * 0x7 = Sync01
* \param[in] cycle_time_0 Cycle time of sync 0 [ns].
* \param[in] cycle_time_1 Cycle time of sync 1 [ns].
* \param[in] cycle_shift Cycle shift time [ns].
*/
void ec_slave_set_dc_config(struct ec *pec, osal_uint16_t slave,
int use_dc, int type, osal_uint32_t cycle_time_0,
Expand Down
2 changes: 1 addition & 1 deletion src/coe_master.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -309,7 +309,7 @@ static int callback_master_0x3nnn(ec_t *pec, const ec_coe_object_t *coe_obj, osa
} else if (sub_index == 8u) {
BUF_PUT(osal_uint32_t, &pec->slaves[slave].dc.receive_times[3]);
} else if (sub_index == 9u) {
BUF_PUT(osal_uint8_t, &pec->slaves[slave].dc.type);
BUF_PUT(osal_uint8_t, &pec->slaves[slave].dc.activation_reg);
} else if (sub_index == 10u) {
BUF_PUT(osal_uint32_t, &pec->slaves[slave].dc.cycle_time_0);
} else if (sub_index == 11u) {
Expand Down
42 changes: 13 additions & 29 deletions src/slave.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -212,18 +212,18 @@ void ec_slave_add_init_cmd(ec_t *pec, osal_uint16_t slave, ec_init_cmd_t *cmd)

// Set Distributed Clocks config to slave
void ec_slave_set_dc_config(struct ec *pec, osal_uint16_t slave,
int use_dc, int type, osal_uint32_t cycle_time_0,
int use_dc, int activation_reg, osal_uint32_t cycle_time_0,
osal_uint32_t cycle_time_1, osal_int32_t cycle_shift)
{
assert(pec != NULL);
assert(slave < pec->slave_cnt);
ec_slave_ptr(slv, pec, slave);

slv->dc.use_dc = use_dc;
slv->dc.type = type;
slv->dc.cycle_time_0 = cycle_time_0;
slv->dc.cycle_time_1 = cycle_time_1;
slv->dc.cycle_shift = cycle_shift;
slv->dc.use_dc = use_dc;
slv->dc.activation_reg = activation_reg;
slv->dc.cycle_time_0 = cycle_time_0;
slv->dc.cycle_time_1 = cycle_time_1;
slv->dc.cycle_shift = cycle_shift;
}

#define AL_STATUS_CODE__NOERROR 0x0000
Expand Down Expand Up @@ -1051,29 +1051,13 @@ int ec_slave_state_transition(ec_t *pec, osal_uint16_t slave, ec_state_t state)
if (slv->dc.cycle_time_0 == 0u) {
slv->dc.cycle_time_0 = pec->main_cycle_interval;
}

if (slv->dc.type == 1) {
if (slv->dc.cycle_time_1 == 0u) {
slv->dc.cycle_time_1 = pec->main_cycle_interval;
}

ec_log(10, get_transition_string(transition),
"slave %2d: configuring dc sync 01, "
"cycle_times %d/%d, cycle_shift %d\n",
slave, slv->dc.cycle_time_0,
slv->dc.cycle_time_1, slv->dc.cycle_shift);

ec_dc_sync(pec, slave, 7, slv->dc.cycle_time_0,
slv->dc.cycle_time_1, slv->dc.cycle_shift);
} else {
ec_log(10, get_transition_string(transition),
"slave %2d: configuring dc sync 0, "
"cycle_time %d, cycle_shift %d\n", slave,
slv->dc.cycle_time_0, slv->dc.cycle_shift);

ec_dc_sync(pec, slave, 3, slv->dc.cycle_time_0, 0,
slv->dc.cycle_shift);
}
ec_log(10, get_transition_string(transition),
"slave %2d: configuring actiavtion reg. %d, "
"cycle_times %d/%d, cycle_shift %d\n",
slave, slv->dc.activation_reg, slv->dc.cycle_time_0,
slv->dc.cycle_time_1, slv->dc.cycle_shift);
ec_dc_sync(pec, slave, slv->dc.activation_reg, slv->dc.cycle_time_0,
slv->dc.cycle_time_1, slv->dc.cycle_shift);
} else {
ec_dc_sync(pec, slave, 0, 0, 0, 0);
}
Expand Down
2 changes: 1 addition & 1 deletion tools/example_with_dc/example_with_dc.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -363,7 +363,7 @@ int main(int argc, char **argv) {
// configure slave settings.
for (int i = 0; i < ec.slave_cnt; ++i) {
ec.slaves[i].assigned_pd_group = 0;
ec_slave_set_dc_config(&ec, i, 1, 0, cycle_rate, 0, 0);
ec_slave_set_dc_config(&ec, i, 1, EC_DC_ACTIVATION_REG_SYNC0, cycle_rate, 0, 0);
}

cyclic_task_running = OSAL_TRUE;
Expand Down