EtherCAT从站状态机分析：PREOP to SAFEOP过程
EtherCAT从站状态机在PREOP to SAFEOP的过程中调用UINT16 StartInputHandler(void)函数，该函数主要有以下4个作用：
01 将过程输出、输入物理地址给到ESC，判定buffer重叠。
02 设定从站同步模式（FREERUN， SM， DC），计算同步周期。
03 设定全局变量（bEscIntEnabled，bDcSyncActive，ALEventMask），以使MainLoop进入正确的同步模式进行PDO。
04 开启看门狗。
下文对UINT16 StartInputHandler(void)函数进行了注释。
UINT16 StartInputHandler(void)函数由backoff SSC v5i12提供。
/////////////////////////////////////////////////////////////////////////////////////////
/**
\return AL Status Code (see ecatslv.h ALSTATUSCODE_....)
\brief This function is called in case of the state transition from PREOP to SAFEOP.
|brief the areas of the Sync Managers will be checked for overlapping,
\brief the synchronization mode (Free Run, Synchron, Distributed Clocks) is selected,
\brief the requested cycle time will be checked, the watchdog is started
\brief and the AL Event Mask register will be set
*////////////////////////////////////////////////////////////////////////////////////////
UINT16 StartInputHandler(void)
{
TSYNCMAN ESCMEM * pSyncMan;
UINT8 dcControl;
UINT16 wdiv = 0;
/*ECATCHANGE_START(V5.11) ECAT4*/
UINT16 wd = 0;
/*ECATCHANGE_END(V5.11) ECAT4*/
UINT32 cycleTimeSync0 = 0; /* Sync0 cycle time */
UINT32 cycleTimeSync1 = 0; /* Delay between the Sync0 and Sycn1 signal. A new Sync1 cycle starts on the next Sync0 signal after Sync1 signal.*/
BOOL bSubordinatedCycles = FALSE;
UINT16 nPdInputBuffer = 3;
UINT16 nPdOutputBuffer = 3;
//you can configure this two variable , to set DC mode by yourself. See line 771 to 809. - Javan
UINT16 SyncType0x1C32 = 0; /* Helper variable for sync type for SM2 (required if no CoE is supported or no output process data available)*/
UINT16 SyncType0x1C33 = 0; /* Helper variable for sync type for SM3 (required if no CoE is supported or no input process data available)*/
UINT16 u16MinSuppSyncType = 0xFFFF; /* Minimum supported Sync Types */
u16MinSuppSyncType &= sSyncManOutPar.u16SyncTypesSupported;
u16MinSuppSyncType &= sSyncManInPar.u16SyncTypesSupported;
u16ALEventMask = 0;
/*
01 --- Check if SyncManager areas overlapping ---
*/
bEcatFirstOutputsReceived = FALSE;//Here the bEcatFirstOutputsReceived has been set false. - Javan
/* get a pointer to the Sync Manager Channel 2 (Outputs) */
/*ECATCHANGE_START(V5.11) HW1*/
pSyncMan = GetSyncMan(PROCESS_DATA_OUT);
/*ECATCHANGE_END(V5.11) HW1*/
/* store the address of the Sync Manager Channel 2 (Outputs) */
nEscAddrOutputData = pSyncMan->PhysicalStartAddress;//SM2:Here first get physical address for esc output. - Javan
/* get the number of output buffer used for calculating the address areas */
if (pSyncMan->Settings[SM_SETTING_CONTROL_OFFSET] & SM_SETTING_MODE_ONE_BUFFER_VALUE)
{
nPdOutputBuffer = 1;
}
/* get a pointer to the Sync Manager Channel 3 (Inputs) */
/*ECATCHANGE_START(V5.11) HW1*/
pSyncMan = GetSyncMan(PROCESS_DATA_IN);
/*ECATCHANGE_END(V5.11) HW1*/
/* store the address of the Sync Manager Channel 3 (Inputs)*/
nEscAddrInputData = pSyncMan->PhysicalStartAddress;//SM3:Here first get physical address for esc input. - Javan
/* get the number of input buffer used for calculating the address areas */
if ( pSyncMan->Settings[SM_SETTING_CONTROL_OFFSET] & SM_SETTING_MODE_ONE_BUFFER_VALUE )
nPdInputBuffer = 1;
/* it has be checked if the Sync Manager memory areas for Inputs and Outputs will not overlap
the Sync Manager memory areas for the Mailbox */
//Check overlap. - Javan
if (((nEscAddrInputData + nPdInputSize * nPdInputBuffer) > u16EscAddrSendMbx && (nEscAddrInputData < (u16EscAddrSendMbx + u16SendMbxSize)))
|| ((nEscAddrInputData + nPdInputSize * nPdInputBuffer) > u16EscAddrReceiveMbx && (nEscAddrInputData < (u16EscAddrReceiveMbx + u16ReceiveMbxSize)))
)
{
return ALSTATUSCODE_INVALIDSMINCFG;
}
if (
((nEscAddrOutputData + nPdOutputSize * nPdOutputBuffer) > u16EscAddrSendMbx && (nEscAddrOutputData < (u16EscAddrSendMbx + u16SendMbxSize)))
||((nEscAddrOutputData + nPdOutputSize * nPdOutputBuffer) > u16EscAddrReceiveMbx && (nEscAddrOutputData < (u16EscAddrReceiveMbx + u16ReceiveMbxSize)))
||
((nEscAddrOutputData + nPdOutputSize * nPdOutputBuffer) > nEscAddrInputData && (nEscAddrOutputData < (nEscAddrInputData + nPdInputSize)))
)
{
/* Sync Manager Channel 2 memory area (Outputs) overlaps the Sync Manager memory areas for the Mailbox
or the Sync Manager Channel 3 memory area (Inputs) */
return ALSTATUSCODE_INVALIDSMOUTCFG;
}
/*
02 --- Check configured synchronisation ---!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
*/
/* Get the DC Control/Activation register value*/
/*Read register 0x981 (corresponding masks are adapted)*/
HW_EscReadByte(dcControl, ESC_DC_SYNC_ACTIVATION_OFFSET);
//Get cycle time for syncx from master. - Javan
// Cycle time for Sync0
HW_EscReadDWord(cycleTimeSync0, ESC_DC_SYNC0_CYCLETIME_OFFSET);
cycleTimeSync0 = SWAPDWORD(cycleTimeSync0);
// Cycle time for Sync1
HW_EscReadDWord(cycleTimeSync1, ESC_DC_SYNC1_CYCLETIME_OFFSET);
cycleTimeSync1 = SWAPDWORD(cycleTimeSync1);
SyncType0x1C32 = sSyncManOutPar.u16SyncType;//Output - Javan
SyncType0x1C33 = sSyncManInPar.u16SyncType;//Input - Javan
/* check general DC register plausibility and if configuration is supported
- 0x981 DC Active
- 0x9A0:0x9A3 Sync0 Cycle
- 0x9A4:0x9A7 Sync1 Cycle
*/
if((dcControl & (ESC_DC_SYNC_UNIT_ACTIVE_MASK | ESC_DC_SYNC_UNIT_AUTO_ACTIVE_MASK)) != 0)
{
/* DC unit is active at least one Sync signal shall be generated *///Checking sync had been set yet. - Javan
if((dcControl & (ESC_DC_SYNC0_ACTIVE_MASK | ESC_DC_SYNC1_ACTIVE_MASK)) == 0)
{
return ALSTATUSCODE_DCINVALIDSYNCCFG;
}
/* If Sync1 shall only be active if also Sync0 will be generated*///Check if sync0 = 0 , sync1 = 1 ,return an error. - Javan
if(((dcControl & ESC_DC_SYNC0_ACTIVE_MASK) == 0)
&& ((dcControl & ESC_DC_SYNC1_ACTIVE_MASK) != 0))
{
return ALSTATUSCODE_DCINVALIDSYNCCFG;
}
if(u16MinSuppSyncType != 0)//u16MinSuppSyncType is defined at the starting of this function , "u16MinSuppSyncType=0xFFFF" ,so here is a true checking. - Javan
{
/*ECATCHANGE_START(V5.11) ESM2*/
if((((u16MinSuppSyncType & SYNCTYPE_DCSYNC0SUPP) == 0) && ((dcControl & ESC_DC_SYNC0_ACTIVE_MASK) != 0))
||(((u16MinSuppSyncType & SYNCTYPE_DCSYNC1SUPP) == 0) && ((dcControl & ESC_DC_SYNC1_ACTIVE_MASK) != 0)))//Checking whether syncx is supported by slaver or not , based on master set active_mask. - Javan
/*ECATCHANGE_END(V5.11) ESM2*/
{
/* Sync0 is not supported but will be generated*/
return ALSTATUSCODE_DCINVALIDSYNCCFG;
}
}
/*Check if Sync0 cycle time is supported*/
if ( cycleTimeSync0 != 0 && (cycleTimeSync0 < MIN_PD_CYCLE_TIME || cycleTimeSync0 > MAX_PD_CYCLE_TIME) )//Checking sync0's cycle time is a right value. - Javan
return ALSTATUSCODE_DCSYNC0CYCLETIME;
/* Check if Subordinated cycles are configured */
if(((dcControl & ESC_DC_SYNC0_ACTIVE_MASK) != 0) && ((dcControl & ESC_DC_SYNC1_ACTIVE_MASK) != 0))//If sync0 and sync1 are both opened and sync1's cycle time is longger then sync0's ,go to Subordinated cycle.
{
/* For Subordinated cycles both Sync signals shall be active and Sync0 is not configured in single shot (cycle time == 0)*/
/*ECATCHANGE_START(V5.11) ESM1*/
if((cycleTimeSync1 > 0) && (cycleTimeSync1 >= cycleTimeSync0))
/*ECATCHANGE_END(V5.11) ESM1*/
{
bSubordinatedCycles = TRUE;
}
}
/* Dump an error if subordinated cycles are configured but not supported */
if(bSubordinatedCycles && ((u16MinSuppSyncType & SYNCTYPE_SUBCYCLESUPP) == 0))//if not supported , return an error. - Javan
{
return ALSTATUSCODE_DCINVALIDSYNCCFG;
}
}
/*
Check if the user configured Sync Type matches the DC register values (if the Sync Type is supported was already checked in the object write function)
*/
if(bSyncSetByUser)//Checking sync is set by user or not. where to set ? MainInit()-COE_ObjInit()-line 540. And you should configure SyncType0x1C32 and SyncType0x1C33. - Javan
{
if((dcControl & (ESC_DC_SYNC_UNIT_ACTIVE_MASK | ESC_DC_SYNC_UNIT_AUTO_ACTIVE_MASK)) == 0)
{
/* DC out unit not enabled => no DC mode shall be set */
if((SyncType0x1C32 == SYNCTYPE_DCSYNC0) || (SyncType0x1C32 == SYNCTYPE_DCSYNC1)
||(SyncType0x1C33 == SYNCTYPE_DCSYNC0) || (SyncType0x1C33 == SYNCTYPE_DCSYNC1))
{
return ALSTATUSCODE_DCINVALIDSYNCCFG;
}
} //if((dcControl & (ESC_DC_SYNC_UNIT_ACTIVE_MASK | ESC_DC_SYNC_UNIT_AUTO_ACTIVE_MASK)) == 0)
else
{
if((dcControl & ESC_DC_SYNC1_ACTIVE_MASK) == 0)
{
/* No Sync 1 is generated => No Sync1 Sync Type shall configured*/
/*ECATCHANGE_START(V5.11) ESM3*/
if((SyncType0x1C32 == (UINT16)SYNCTYPE_DCSYNC1)
||(SyncType0x1C33 == (UINT16)SYNCTYPE_DCSYNC1))
/*ECATCHANGE_END(V5.11) ESM3*/
{
return ALSTATUSCODE_DCINVALIDSYNCCFG;
}
} //if((dcControl & ESC_DC_SYNC1_ACTIVE_MASK) == 0)
if((dcControl & ESC_DC_SYNC0_ACTIVE_MASK) == 0)
{
/* No Sync 0 is generated => No Sync0 Sync Type shall configured*/
/*ECATCHANGE_START(V5.11) ESM3*/
if((SyncType0x1C32 == (UINT16)SYNCTYPE_DCSYNC0)
||(SyncType0x1C33 == (UINT16)SYNCTYPE_DCSYNC0))
/*ECATCHANGE_END(V5.11) ESM3*/
{
return ALSTATUSCODE_DCINVALIDSYNCCFG;
}
} //if((dcControl & ESC_DC_SYNC0_ACTIVE_MASK) == 0)
}
} //if(bSyncSetByUser)
else// if you have not define DC mode , come here . - Javan
{
/* No Sync Type selected by user => Configure Sync Type based on DC register values*/
if((dcControl & (ESC_DC_SYNC_UNIT_ACTIVE_MASK | ESC_DC_SYNC_UNIT_AUTO_ACTIVE_MASK)) == 0)//First checking dccontrol register , if there is no Sync interrupt signal , go to free run or Synchronize by SM. - Javan
{
/* Activation or auto activation of the Sync Out Unit is disabled => Free Run or SM Sync is configured*/
/* AL Event enabled => Configure SM Sync*/
if (nPdOutputSize > 0)//Where comes nPdOutputSize and nPdInputSize ? They all come from [AL_ControlInd()-line1402-APPL_GenerateMapping(&nPdInputSize,&nPdOutputSize)]. - Javan
//It is a function that can calculate how many bytes in the object dictionary. - Javan
//There defined SyncType0x1C32 and SyncType0x1C33 by nPdOutputSize and nPdInputSize, so defined Input and out put who Synchronize by SM and who free run. - Javan
{
SyncType0x1C32 = SYNCTYPE_SM_SYNCHRON;
if (nPdInputSize > 0)
SyncType0x1C33 = SYNCTYPE_SM2_SYNCHRON;
else
SyncType0x1C33 = SYNCTYPE_FREERUN;
}
else if (nPdInputSize > 0)
{
SyncType0x1C32 = SYNCTYPE_FREERUN;
SyncType0x1C33 = SYNCTYPE_SM_SYNCHRON;
}
else
{
SyncType0x1C32 = SYNCTYPE_FREERUN;
SyncType0x1C33 = SYNCTYPE_FREERUN;
}
sSyncManOutPar.u16GetCycleTime = 1;
}
else//When Sync interrupt is OK ,Synchronize by DC mode. - Javan
{
if (nPdOutputSize > 0)
{
/* Sync Signal generation is active*/
if (bSubordinatedCycles)//See line-756 - Javan
{
SyncType0x1C32 = SYNCTYPE_DCSYNC1;
}
else
{
SyncType0x1C32 = SYNCTYPE_DCSYNC0;
}
}
else
{
SyncType0x1C32 = SYNCTYPE_FREERUN;
}
if (nPdInputSize > 0)
{
if ((dcControl & ESC_DC_SYNC1_ACTIVE_MASK) != 0)
{
/* If Sync1 is available the inputs will always be mapped with Sync1 */
SyncType0x1C33 = SYNCTYPE_DCSYNC1;
}
else
{
/* Map Inputs based on Sync0*/
SyncType0x1C33 = SYNCTYPE_DCSYNC0;
}
}
else
{
SyncType0x1C33 = SYNCTYPE_FREERUN;
}
}
}
/* Update Cycle time entries if DC Sync Mode enabled */
if(SyncType0x1C32 == SYNCTYPE_DCSYNC1)
{
sSyncManOutPar.u32Sync0CycleTime = (UINT32)cycleTimeSync0;//cycleTimeSync0 see line-698 - Javan
/*ECATCHANGE_START(V5.11) ECAT4*/
sSyncManInPar.u32Sync0CycleTime = (UINT32)cycleTimeSync0;
/*ECATCHANGE_END(V5.11) ECAT4*/
}
else if(SyncType0x1C32 == SYNCTYPE_DCSYNC0)
{
sSyncManOutPar.u32Sync0CycleTime = (UINT32)cycleTimeSync0;
/*ECATCHANGE_START(V5.11) ECAT4*/
sSyncManInPar.u32Sync0CycleTime = (UINT16)cycleTimeSync0;
/*ECATCHANGE_END(V5.11) ECAT4*/
}
//03 /* Set global flags based on Sync Type */
if ( !b3BufferMode )
{
/* 1-Buffer-Mode configured => For free run it shall be 3Buffer mode*/
if (( SyncType0x1C32 == SYNCTYPE_FREERUN ) || ( SyncType0x1C33 == SYNCTYPE_FREERUN ))
{
return ALSTATUSCODE_FREERUNNEEDS3BUFFERMODE;//Here is not an error , it returns free run mode ,go to three buffer. - Javan
}
}
/* If no free run is supported the EscInt is always enabled*/
if (( SyncType0x1C32 != SYNCTYPE_FREERUN ) || ( SyncType0x1C33 != SYNCTYPE_FREERUN ))
{
/* ECAT Synchron Mode, the ESC interrupt is enabled */
bEscIntEnabled = TRUE;//Here opens Synchronize mode. - Javan
}
/* Update value for AL Event Mask register (0x204) */
if(bEscIntEnabled)//If Synchronize mode is opened. Here opens OUTPUT and INPUT EVENT. - Javan
{
if(nPdOutputSize > 0)
{
u16ALEventMask = PROCESS_OUTPUT_EVENT;
}
else if(nPdInputSize > 0)
{
u16ALEventMask = PROCESS_INPUT_EVENT;
}
}
if ((SyncType0x1C32 == SYNCTYPE_DCSYNC0) || (SyncType0x1C32 == SYNCTYPE_DCSYNC1)
|| (SyncType0x1C33 == SYNCTYPE_DCSYNC0) || (SyncType0x1C33 == SYNCTYPE_DCSYNC1))/* Sync to Sync0 or Sync1 is enabled*/
{
/* slave is running in DC-mode */
bDcSyncActive = TRUE;//Here opens Synchronize by DC mode flag. - Javan
/*ECATCHANGE_START(V5.11) ECAT4*/
/*In case of an Input only application with DC no PDI Isr handling is required*/
if (nPdOutputSize == 0)
{
u16ALEventMask = 0;
}
/*ECATCHANGE_END(V5.11) ECAT4*/
}
sSyncManOutPar.u16SyncType = SyncType0x1C32;
sSyncManInPar.u16SyncType = SyncType0x1C33;
/* Calculate number of Sync0 events within one SM cycle and the Sync0 events on which the inputs has to be latched*/
LatchInputSync0Value = 0;
LatchInputSync0Counter = 0;
u16SmSync0Value = 0;
u16SmSync0Counter = 0;
if(bSubordinatedCycles == TRUE)//Calculate cycle time. - Javan
{
/* get the number of Sync0 event within on SM cycle */
if(cycleTimeSync1 >= cycleTimeSync0)
{
u16SmSync0Value = (UINT16)(cycleTimeSync1 / cycleTimeSync0);
if((cycleTimeSync1 % cycleTimeSync0) == 0)
{
/* if the Sync1cycletime/Sync0cycletime ratio is even one additional tick */
u16SmSync0Value ++;
}
}
else
{
u16SmSync0Value = 1;
}
/* Calculate the Sync0 tick on which the inputs shall be latched (last Sync0 before the next Sync1 event)*/
LatchInputSync0Value = (UINT16) (cycleTimeSync1 / cycleTimeSync0);
if((cycleTimeSync1 % cycleTimeSync0) > 0)
LatchInputSync0Value++;
}
else
{
if(SyncType0x1C32 == SYNCTYPE_DCSYNC0)
{
/* if SyncType of 0x1C32 is 2 the Sync0 event is trigger once during a SM cycle */
u16SmSync0Value = 1;
}
if(SyncType0x1C33 != SYNCTYPE_DCSYNC1)
{
LatchInputSync0Value = 1;
}
}
/* reset the error counter indicating synchronization problems */
sCycleDiag.syncFailedCounter = 0;
/*
//04 --- Check watchdog settings ---
*/
/*get the watchdog time (register 0x420). if value is > 0 watchdog is active*/
/*ECATCHANGE_START(V5.11) ECAT4*/
HW_EscReadWord(wd, ESC_PD_WD_TIME);
wd = SWAPWORD(wd);
/*ECATCHANGE_END(V5.11) ECAT4*/
if (nPdOutputSize > 0 && wd != 0 )
{
/*get watchdog divider (register 0x400)*/
HW_EscReadWord(wdiv, ESC_WD_DIVIDER_OFFSET);
wdiv = SWAPWORD(wdiv);
if ( wdiv != 0 )
{
/* the ESC subtracts 2 in register 0x400 so it has to be added here */
UINT32 d = wdiv+2;
d *= wd;
/* store watchdog in ms in variable u16WdValue */
/* watchdog value has to be rounded up */
d += 24999;
d /= 25000;
EcatWdValue = (UINT16) d;
}
else
{
wd = 0;
/* wd value has to be set to zero, if the wd is 0 */
EcatWdValue = 0;
}
}
else
{
/* the watchdog is deactivated or slave has no output process data*/
wdiv = 0;
EcatWdValue = 0;
}
if((EcatWdValue == 0 && bWdTrigger) || (EcatWdValue != 0 && !bWdTrigger))
{
/* if the WD-Trigger in the Sync Manager Channel 2 Control-Byte is set (Bit 6 of Register 0x814)
an error has to be returned */
return ALSTATUSCODE_INVALIDWDCFG;
}
if ( bEscIntEnabled && nPdOutputSize != 0 )
{
/* ECAT synchron Mode is active, the Sync Manager Channel 2 event
has to activated in the AL-Event mask register */
u16ALEventMask |= PROCESS_OUTPUT_EVENT;
}
/*The application ESM function is separated from this function to handle pending transitions*/
Sync0WdValue = 0;
Sync0WdCounter = 0;
Sync1WdCounter = 0;
Sync1WdValue = 0;
bDcRunning = FALSE;
bSmSyncSequenceValid = FALSE;
i16WaitForPllRunningTimeout = 0;
/*ECATCHANGE_START(V5.11) ECAT4*/
sSyncManInPar.u8SyncError = 0;
/*ECATCHANGE_END(V5.11) ECAT4*/
sSyncManOutPar.u8SyncError = 0;
sSyncManOutPar.u16SmEventMissedCounter = 0;
/* calculate the Sync0/Sync1 watchdog timeouts */
if ( (dcControl & ESC_DC_SYNC0_ACTIVE_MASK) != 0 )
{
/*calculate the Sync0 Watchdog counter value the minimum value is 1 ms
if the sync0 cycle is greater 500us the Sync0 Wd value is 2*Sycn0 cycle */
if(cycleTimeSync0 == 0)
{
Sync0WdValue = 0;
}
else
{
UINT32 Sync0Cycle = cycleTimeSync0/100000;
if(Sync0Cycle < 5)
{
/*Sync0 cycle less than 500us*/
Sync0WdValue = 1;
}
else
{
Sync0WdValue = (UINT16)(Sync0Cycle*2)/10;
}
}
/* Calculate also the watchdog time for Sync1*/
if ( (dcControl & ESC_DC_SYNC1_ACTIVE_MASK) != 0 )
{
if(cycleTimeSync1 < cycleTimeSync0)
{
/* Sync 1 has the same cycle time than Sync0 (maybe with a shift (cycleTimeSync1 > 0))*/
Sync1WdValue = Sync0WdValue;
}
else
{
/* Sync1 cycle is larger than Sync0 (e.g. subordinated Sync0 cycles) */
UINT32 Sync1Cycle = cycleTimeSync1/100000;
if(Sync1Cycle < 5)
{
/*Sync0 cycle less than 500us*/
Sync1WdValue = 1;
}
else
{
Sync1WdValue = (UINT16)(Sync1Cycle*2)/10;
}
/* add one Sync0 cycle because the Sync1 cycle starts on the next Sync0 after the Sync1 signal */
Sync1WdValue += Sync0WdValue/2;
}
}
}
if(nPdOutputSize > 0)
{
/*ECATCHANGE_START(V5.11) HW1*/
EnableSyncManChannel(PROCESS_DATA_OUT);//Enable output SM. - Javan
/*ECATCHANGE_END(V5.11) HW1*/
}
if(nPdInputSize > 0)
{
/*ECATCHANGE_START(V5.11) HW1*/
EnableSyncManChannel(PROCESS_DATA_IN);//Enable input SM. - Javan
/*ECATCHANGE_END(V5.11) HW1*/
}
/*write initial input data*/
PDO_InputMapping();//Send to ESC. - Javan
return ALSTATUSCODE_NOERROR;
}