Merge pull request #32 from nakarlsson/master

Add sync support and extend esc_config for generic stack

CMakeLists.txt

@@ -5,8 +5,8 @@ cmake_minimum_required (VERSION 2.8.4)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 project (SOES)
 
-set (SOES_VERSION_MAJOR 1)
-set (SOES_VERSION_MINOR 1)
+set (SOES_VERSION_MAJOR 2)
+set (SOES_VERSION_MINOR 0)
 set (SOES_VERSION_PATCH 0)
 
 # Generate version numbers

LICENSE

@@ -1,7 +1,8 @@
 SOES Simple Open EtherCAT Slave
-Copyright (C) 2007-2014 Arthur Ketels
-Copyright (C) 2012-2014 rt-labs
 
+Copyright (C) 2007-2017 Arthur Ketels
+Copyright (C) 2012-2017 rt-labs
+
 SOES is free software; you can redistribute it and/or modify it under
 the terms of the GNU General Public License version 2 as published by the Free
 Software Foundation.

README.md

@@ -12,7 +12,7 @@ SOES is an EtherCAT slave stack written in c. Its purpose is to learn and
 to use. All users are invited to study the source to get an understanding
 how an EtherCAT slave functions.
 
-Features as of 1.1.0:
+Features as of 2.0.0:
  - Address offset based HAL for easy ESC read/write access via any
    interface
  - Mailbox with data link layer
@@ -22,5 +22,12 @@ Features as of 1.1.0:
  - Easy portable C-code suited for embedded applications
  - Fixed PDO mapping
  - FoE with bootstrap template
- - Support for Little and Big endian targets.
- - Polling for interrupts
+ - Support for Little and Big endian targets
+ - Run polling, mixed polling/interrupt or interrupt
+ - Support for SM Synchronization 
+ - Support DC sync0 and DC Synchronization
+ - Add stack configuration via new configuration paramater to/or from 
+   "stack"_init
+
+TODO
+ - Update documentation

applications/linux_lan9252demo/slave.c

@@ -1,38 +1,57 @@
 #include <stddef.h>
 #include "utypes.h"
-#include "soes/esc.h"
-#include "soes/esc_coe.h"
-#include "soes/esc_foe.h"
+#include "esc.h"
+#include "esc_coe.h"
+#include "esc_foe.h"
+#include "config.h"
 #include "slave.h"
 
-#ifndef EEP_EMULATION
-#define EEP_EMULATION   0       /* Set to 1 for EEPROM emulation */
-#endif
-
 #define WATCHDOG_RESET_VALUE 150
 #define DEFAULTTXPDOMAP    0x1a00
 #define DEFAULTRXPDOMAP    0x1600
 #define DEFAULTTXPDOITEMS  1
 #define DEFAULTRXPDOITEMS  1
 
-volatile _ESCvar  ESCvar;
-_MBX              MBX[MBXBUFFERS];
-_MBXcontrol       MBXcontrol[MBXBUFFERS];
-uint8_t           MBXrun=0;
-uint16_t          SM2_sml,SM3_sml;
-_Rbuffer          Rb;
-_Wbuffer          Wb;
-_Cbuffer          Cb;
-_App              App;
-uint16_t          TXPDOsize,RXPDOsize;
+/* Global variables used by the stack */
+uint8_t     MBX[MBXBUFFERS * MAX(MBXSIZE,MBXSIZEBOOT)];
+_MBXcontrol MBXcontrol[MBXBUFFERS];
+_ESCvar     ESCvar;
+
+/* Application variables */
+_Rbuffer    Rb;
+_Wbuffer    Wb;
+_Cbuffer    Cb;
+
+/* Private variables */
 uint16_t          txpdomap = DEFAULTTXPDOMAP;
 uint16_t          rxpdomap = DEFAULTRXPDOMAP;
 uint8_t           txpdoitems = DEFAULTTXPDOITEMS;
 uint8_t           rxpdoitems = DEFAULTTXPDOITEMS;
 
-static unsigned int watchdog = WATCHDOG_RESET_VALUE;
+static int watchdog = WATCHDOG_RESET_VALUE;
 static void (*application_loop_callback)(void) = NULL;
 
+/** Function to pre-qualify the incoming SDO download.
+ *
+ * @param[in] index      = index of SDO download request to check
+ * @param[in] sub-index  = sub-index of SDO download request to check
+ * @return 1 if the SDO Download is correct. 0 If not correct.
+ */
+int ESC_pre_objecthandler (uint16_t index, uint8_t subindex)
+{
+   if ((index == 0x1c12) && (subindex > 0) && (rxpdoitems != 0))
+   {
+      SDO_abort (index, subindex, ABORT_READONLY);
+      return 0;
+   }
+   if ((index == 0x1c13) && (subindex > 0) && (txpdoitems != 0))
+   {
+      SDO_abort (index, subindex, ABORT_READONLY);
+      return 0;
+   }
+   return 1;
+}
+
 /** Mandatory: Hook called from the slave stack SDO Download handler to act on
  * user specified Index and Sub-index.
  *
@@ -54,7 +73,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
       {
          rxpdomap = 0x1600;
       }
-      RXPDOsize = SM2_sml = sizeRXPDO();
+      ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
       break;
    }
    case 0x1c13:
@@ -68,7 +87,7 @@ void ESC_objecthandler (uint16_t index, uint8_t subindex)
       {
          txpdomap = 0x1A00;
       }
-      TXPDOsize = SM3_sml = sizeTXPDO();
+      ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
       break;
    }
    /* Handle post-write of parameter values */
@@ -100,13 +119,13 @@ void APP_safeoutput (void)
  */
 void TXPDO_update (void)
 {
-   ESC_write (SM3_sma, &Rb, TXPDOsize);
+   ESC_write (SM3_sma, &Rb, ESCvar.TXPDOsize);
 }
 /** Mandatory: Read Sync Manager 2 to local process data, Master Outputs.
  */
 void RXPDO_update (void)
 {
-   ESC_read (SM2_sma, &Wb, RXPDOsize);
+   ESC_read (SM2_sma, &Wb, ESCvar.RXPDOsize);
 }
 
 /** Mandatory: Function to update local I/O, call read ethercat outputs, call
@@ -119,7 +138,7 @@ void DIG_process (void)
    {
       watchdog--;
    }
-   if (App.state & APPSTATE_OUTPUT)
+   if (ESCvar.App.state & APPSTATE_OUTPUT)
    {
       /* SM2 trigger ? */
       if (ESCvar.ALevent & ESCREG_ALEVENT_SM2)
@@ -131,7 +150,7 @@ void DIG_process (void)
          /* Set outputs */
          cb_set_LEDs();
       }
-      if (watchdog == 0)
+      if (watchdog <= 0)
       {
          DPRINT("DIG_process watchdog expired\n");
          ESC_stopoutput();
@@ -145,7 +164,7 @@ void DIG_process (void)
    {
       watchdog = WATCHDOG_RESET_VALUE;
    }
-   if (App.state)
+   if (ESCvar.App.state)
    {
       /* Update inputs */
       cb_get_Buttons();
@@ -155,8 +174,6 @@ void DIG_process (void)
 
 /********** TODO: Generic code beyond this point ***************/
 
-static const char *spi_name = "/dev/lan9252";
-
 /** Optional: Hook called after state change for application specific
  * actions for specific state changes.
  */
@@ -204,6 +221,8 @@ void soes (void)
 
    /* Check the state machine */
    ESC_state();
+   /* Check the SM activation event */
+   ESC_sm_act_event();
 
    /* Check mailboxes */
    if (ESC_mbxprocess())
@@ -213,10 +232,6 @@ void soes (void)
       ESC_xoeprocess();
    }
    DIG_process();
-#if EEP_EMULATION
-   EEP_process ();
-   EEP_hw_process();
-#endif  /* EEP_EMULATION */
 
    if (application_loop_callback != NULL)
    {
@@ -231,19 +246,39 @@ void soes_init (void)
 {
    DPRINT ("SOES (Simple Open EtherCAT Slave)\n");
 
-   TXPDOsize = SM3_sml = sizeTXPDO();
-   RXPDOsize = SM2_sml = sizeRXPDO();
+   ESCvar.TXPDOsize = ESCvar.ESC_SM3_sml = sizeOfPDO(TX_PDO_OBJIDX);
+   ESCvar.RXPDOsize = ESCvar.ESC_SM2_sml = sizeOfPDO(RX_PDO_OBJIDX);
 
-   /* Setup post config hooks */
+   /* Setup config hooks */
    static esc_cfg_t config =
    {
-      .pre_state_change_hook = NULL,
-      .post_state_change_hook = post_state_change_hook
+      .user_arg = "/dev/lan9252",
+      .use_interrupt = 0,
+      .watchdog_cnt = 0,
+      .mbxsize = MBXSIZE,
+      .mbxsizeboot = MBXSIZEBOOT,
+      .mbxbuffers = MBXBUFFERS,
+      .mb[0] = {MBX0_sma, MBX0_sml, MBX0_sme, MBX0_smc, 0},
+      .mb[1] = {MBX1_sma, MBX1_sml, MBX1_sme, MBX1_smc, 0},
+      .mb_boot[0] = {MBX0_sma_b, MBX0_sml_b, MBX0_sme_b, MBX0_smc_b, 0},
+      .mb_boot[1] = {MBX1_sma_b, MBX1_sml_b, MBX1_sme_b, MBX1_smc_b, 0},
+      .pdosm[0] = {SM2_sma, 0, 0, SM2_smc, SM2_act},
+      .pdosm[1] = {SM3_sma, 0, 0, SM3_smc, SM3_act},      
+      .pre_state_change_hook = NULL, 
+      .post_state_change_hook = NULL,
+      .application_hook = NULL,
+      .safeoutput_override = NULL,
+      .pre_object_download_hook = NULL,
+      .post_object_download_hook = NULL,
+      .rxpdo_override = NULL,
+      .txpdo_override = NULL,
+      .esc_hw_interrupt_enable = NULL,
+      .esc_hw_interrupt_disable = NULL,
+      .esc_hw_eep_handler = NULL
    };
-   ESC_config ((esc_cfg_t *)&config);
-
-   ESC_reset();
-   ESC_init ((void *)spi_name);
+
+   ESC_config (&config);
+   ESC_init (&config);
 
    /*  wait until ESC is started up */
    while ((ESCvar.DLstatus & 0x0001) == 0)