Soem-周期同步力矩模式(CST)-添加代码注释-CSDN.zip

/* * Licensed under the GNU General Public License version 2 with exceptions. See * LICENSE file in the project root for full license information */ /** * \file * \brief * Main EtherCAT functions. * * Initialisation, state set and read, mailbox primitives, EEPROM primitives, * SII reading and processdata exchange. * * Defines ec_slave[]. All slave information is put in this structure. * Needed for most user interaction with slaves. */ #include <stdio.h> #include <string.h> #include "osal.h" #include "oshw.h" #include "ethercat.h" /** delay in us for eeprom ready loop */ #define EC_LOCALDELAY 200 /** record for ethercat eeprom communications */ PACKED_BEGIN typedef struct PACKED { uint16 comm; uint16 addr; uint16 d2; } ec_eepromt; PACKED_END /** mailbox error structure */ PACKED_BEGIN typedef struct PACKED { ec_mbxheadert MbxHeader; uint16 Type; uint16 Detail; } ec_mbxerrort; PACKED_END /** emergency request structure */ PACKED_BEGIN typedef struct PACKED { ec_mbxheadert MbxHeader; uint16 CANOpen; uint16 ErrorCode; uint8 ErrorReg; uint8 bData; uint16 w1,w2; } ec_emcyt; PACKED_END #ifdef EC_VER1 /** Main slave data array. * Each slave found on the network gets its own record. * ec_slave[0] is reserved for the master. Structure gets filled * in by the configuration function ec_config(). */ ec_slavet ec_slave[EC_MAXSLAVE]; /** number of slaves found on the network */ int ec_slavecount; /** slave group structure */ ec_groupt ec_group[EC_MAXGROUP]; /** cache for EEPROM read functions */ static uint8 ec_esibuf[EC_MAXEEPBUF]; /** bitmap for filled cache buffer bytes */ static uint32 ec_esimap[EC_MAXEEPBITMAP]; /** current slave for EEPROM cache buffer */ static ec_eringt ec_elist; static ec_idxstackT ec_idxstack; /** SyncManager Communication Type struct to store data of one slave */ static ec_SMcommtypet ec_SMcommtype[EC_MAX_MAPT]; /** PDO assign struct to store data of one slave */ static ec_PDOassignt ec_PDOassign[EC_MAX_MAPT]; /** PDO description struct to store data of one slave */ static ec_PDOdesct ec_PDOdesc[EC_MAX_MAPT]; /** buffer for EEPROM SM data */ static ec_eepromSMt ec_SM; /** buffer for EEPROM FMMU data */ static ec_eepromFMMUt ec_FMMU; /** Global variable TRUE if error available in error stack */ boolean EcatError = FALSE; int64 ec_DCtime; ecx_portt ecx_port; ecx_redportt ecx_redport; ecx_contextt ecx_context = { &ecx_port, // .port = &ec_slave[0], // .slavelist = &ec_slavecount, // .slavecount = EC_MAXSLAVE, // .maxslave = &ec_group[0], // .grouplist = EC_MAXGROUP, // .maxgroup = &ec_esibuf[0], // .esibuf = &ec_esimap[0], // .esimap = 0, // .esislave = &ec_elist, // .elist = &ec_idxstack, // .idxstack = &EcatError, // .ecaterror = &ec_DCtime, // .DCtime = &ec_SMcommtype[0], // .SMcommtype = &ec_PDOassign[0], // .PDOassign = &ec_PDOdesc[0], // .PDOdesc = &ec_SM, // .eepSM = &ec_FMMU, // .eepFMMU = NULL, // .FOEhook() NULL, // .EOEhook() 0, // .manualstatechange NULL, // .userdata }; #endif /** Create list over available network adapters. * * @return First element in list over available network adapters. */ ec_adaptert * ec_find_adapters (void) { ec_adaptert * ret_adapter; ret_adapter = oshw_find_adapters (); return ret_adapter; } /** Free dynamically allocated list over available network adapters. * * @param[in] adapter = Struct holding adapter name, description and pointer to next. */ void ec_free_adapters (ec_adaptert * adapter) { oshw_free_adapters (adapter); } /** Pushes an error on the error list. * * @param[in] context = context struct * @param[in] Ec pointer describing the error. */ void ecx_pusherror(ecx_contextt *context, const ec_errort *Ec) { context->elist->Error[context->elist->head] = *Ec; context->elist->Error[context->elist->head].Signal = TRUE; context->elist->head++; if (context->elist->head > EC_MAXELIST) { context->elist->head = 0; } if (context->elist->head == context->elist->tail) { context->elist->tail++; } if (context->elist->tail > EC_MAXELIST) { context->elist->tail = 0; } *(context->ecaterror) = TRUE; } /** Pops an error from the list. * * @param[in] context = context struct * @param[out] Ec = Struct describing the error. * @return TRUE if an error was popped. */ boolean ecx_poperror(ecx_contextt *context, ec_errort *Ec) { boolean notEmpty = (context->elist->head != context->elist->tail); *Ec = context->elist->Error[context->elist->tail]; context->elist->Error[context->elist->tail].Signal = FALSE; if (notEmpty) { context->elist->tail++; if (context->elist->tail > EC_MAXELIST) { context->elist->tail = 0; } } else { *(context->ecaterror) = FALSE; } return notEmpty; } /** Check if error list has entries. * * @param[in] context = context struct * @return TRUE if error list contains entries. */ boolean ecx_iserror(ecx_contextt *context) { return (context->elist->head != context->elist->tail); } /** Report packet error * * @param[in] context = context struct * @param[in] Slave = Slave number * @param[in] Index = Index that generated error * @param[in] SubIdx = Subindex that generated error * @param[in] ErrorCode = Error code */ void ecx_packeterror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, uint16 ErrorCode) { ec_errort Ec; memset(&Ec, 0, sizeof(Ec)); Ec.Time = osal_current_time(); Ec.Slave = Slave; Ec.Index = Index; Ec.SubIdx = SubIdx; *(context->ecaterror) = TRUE; Ec.Etype = EC_ERR_TYPE_PACKET_ERROR; Ec.ErrorCode = ErrorCode; ecx_pusherror(context, &Ec); } /** Report Mailbox Error * * @param[in] context = context struct * @param[in] Slave = Slave number * @param[in] Detail = Following EtherCAT specification */ static void ecx_mbxerror(ecx_contextt *context, uint16 Slave,uint16 Detail) { ec_errort Ec; memset(&Ec, 0, sizeof(Ec)); Ec.Time = osal_current_time(); Ec.Slave = Slave; Ec.Index = 0; Ec.SubIdx = 0; Ec.Etype = EC_ERR_TYPE_MBX_ERROR; Ec.ErrorCode = Detail; ecx_pusherror(context, &Ec); } /** Report Mailbox Emergency Error * * @param[in] context = context struct * @param[in] Slave = Slave number * @param[in] ErrorCode = Following EtherCAT specification * @param[in] ErrorReg * @param[in] b1 * @param[in] w1 * @param[in] w2 */ static void ecx_mbxemergencyerror(ecx_contextt *context, uint16 Slave,uint16 ErrorCode,uint16 ErrorReg, uint8 b1, uint16 w1, uint16 w2) { ec_errort Ec; memset(&Ec, 0, sizeof(Ec)); Ec.Time = osal_current_time(); Ec.Slave = Slave; Ec.Index = 0; Ec.SubIdx = 0; Ec.Etype = EC_ERR_TYPE_EMERGENCY; Ec.ErrorCode = ErrorCode; Ec.ErrorReg = (uint8)ErrorReg; Ec.b1 = b1; Ec.w1 = w1; Ec.w2 = w2; ecx_pusherror(context, &Ec); } /** Initialise lib in single NIC mode * @param[in] context = context struct * @param[in] ifname = Dev name, f.e. "eth0" * @return >0 if OK */ int ecx_init(ecx_contextt *context, const char * ifname) { return ecx_setupnic(context->port, ifname, FALSE); } /** Initialise lib in redundant NIC mode * @param[in] context = context struct * @param[in] redport = pointer to redport, redundant port data * @param[in