Merge pull request #21 from marcfir/feat/sync1

feat: Support the configuration of slaves to use only dc sync1
robert-burger · Sep 14, 2024 · 231ca58 · 231ca58
2 parents 9108db1 + b7e43ea
commit 231ca58
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Showing 5 changed files with 34 additions and 42 deletions.
diff --git a/include/libethercat/dc.h b/include/libethercat/dc.h
@@ -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
@@ -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]

diff --git a/include/libethercat/slave.h b/include/libethercat/slave.h
@@ -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, 

diff --git a/src/coe_master.c b/src/coe_master.c
@@ -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) {

diff --git a/src/slave.c b/src/slave.c
@@ -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 
@@ -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);
                 }

diff --git a/tools/example_with_dc/example_with_dc.c b/tools/example_with_dc/example_with_dc.c
@@ -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;