From b978b4cb5c82d0390733c7343863913ec0062bdf Mon Sep 17 00:00:00 2001 From: Andreas Karlsson Date: Fri, 24 May 2019 13:43:01 +0200 Subject: [PATCH] Improve documentation fixes #226 and fixes #270 --- Doxyfile | 2 +- doc/images/legacy_iomap.png | Bin 0 -> 25053 bytes doc/images/overlapping_iomap.png | Bin 0 -> 28169 bytes doc/soem.dox | 10 +++ doc/tutorial.txt | 118 ++++++++++++++++++++++++++++++- 5 files changed, 128 insertions(+), 2 deletions(-) create mode 100644 doc/images/legacy_iomap.png create mode 100644 doc/images/overlapping_iomap.png diff --git a/Doxyfile b/Doxyfile index cee7d54..4ae5f82 100644 --- a/Doxyfile +++ b/Doxyfile @@ -32,7 +32,7 @@ PROJECT_NAME = SOEM # This could be handy for archiving the generated documentation or # if some version control system is used. -PROJECT_NUMBER = v1.3.3 +PROJECT_NUMBER = v1.4.0 # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer diff 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index 4785dc9..f03da0f 100644 --- a/doc/soem.dox +++ b/doc/soem.dox @@ -114,6 +114,13 @@ * - Error messages updated to latest ETG1020 document. * - FoE transfers now support busy response. * + * Features as of 1.4.0 : + * + * Added ERIKA target. + * Added macOS target. + * Support for EoE over existing mailbox API. + * + * * \section build Build instructions * * See README.md in the root folder. @@ -187,6 +194,9 @@ * - Added rtems target. * - Added support for overlapping IOmap. * + * Version 1.4.0 : 2019-05 + * - Various fixes and improvements + * * \section legal Legal notice * * Licensed under the GNU General Public License version 2 with exceptions. See diff --git a/doc/tutorial.txt b/doc/tutorial.txt index f722aa8..5f9a8ed 100644 --- a/doc/tutorial.txt +++ b/doc/tutorial.txt @@ -5,7 +5,7 @@ The SOEM is a library that provides the user application with the means to send and receive EtherCAT frames. It is up to the application to provide means for: - Reading and writing process data to be sent/received by SOEM - - Keeping local IO data synchronised with the global IOmap + - Keeping local IO data synchronized with the global IOmap - Detecting errors reported by SOEM - Managing errors reported by SOEM @@ -150,6 +150,122 @@ handling is split into ec_send_processdata and ec_receive_processdata. - Now we have a system up and running, all slaves are in state operational. +\section configuration_custom Custom Configuration + +\subsection iomap_config PDO Assign and PDO Config + +Do custom configuration with PDO Assign or PDO Config. SOEM support custom configuration during start via a +PreOP to SafeOP configuration hook. It can be done per slave and should be set before calling +the configuration and mapping of process data, e.g. the call to ec_config_map. Setting the configuration +hook ensure that the custom configuration will be applied when calling recover and re-configuration +of a slave, as described below. + +\code + +int EL7031setup(uint16 slave) +{ + int retval; + uint16 u16val; + + retval = 0; + + /* Map velocity PDO assignment via Complete Access*/ + uint16 map_1c12[4] = {0x0003, 0x1601, 0x1602, 0x1604}; + uint16 map_1c13[3] = {0x0002, 0x1a01, 0x1a03}; + + retval += ec_SDOwrite(slave, 0x1c12, 0x00, TRUE, sizeof(map_1c12), &map_1c12, EC_TIMEOUTSAFE); + retval += ec_SDOwrite(slave, 0x1c13, 0x00, TRUE, sizeof(map_1c13), &map_1c13, EC_TIMEOUTSAFE); + + /* set some motor parameters, just as example */ + u16val = 1200; // max motor current in mA + retval += ec_SDOwrite(slave, 0x8010, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE); + u16val = 150; // motor coil resistance in 0.01ohm + retval += ec_SDOwrite(slave, 0x8010, 0x04, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE); + + /* set other necessary parameters as needed */ +... + printf("EL7031 slave %d set, retval = %d\n", slave, retval); + return 1; +} + +void simpletest(char *ifname) +{ +... + /* Detect slave beckhoff EL7031 from vendor ID and product code */ + if((ec_slave[slc].eep_man == 0x00000002) && (ec_slave[slc].eep_id == 0x1b773052)) + { + printf("Found %s at position %d\n", ec_slave[slc].name, slc); + /* link slave specific setup to preop->safeop hook */ + ec_slave[slc].PO2SOconfig = EL7031setup; + } +... +\endcode + +\subsection iomap_layout Legacy versus overlapping IOmap + +IOmap options legacy versus overlapping. Overlapping IOmap was introduced to handle +the TI ESC that doesn't support RW access to non-interleaved input and output process +data of multiple slaves. The difference is that legacy IOmapping will send IOmap as is +on the EtherCAT network while the overlapping will re-use logic addressing per slave to +replace RxPDO process data coming from the Master with TxPDO process data generated by the slave +sent back to the master. + +Overview of legacy pdo map +\image html legacy_iomap.png "Legacy IOmapping" +\image latex legacy_iomap.png "Legacy IOmapping" width=15cm + +Overview of overlapping pdo map +\image html overlapping_iomap.png "Overlapping IOmapping" +\image latex overlapping_iomap.png "Overlapping IOmapping" width=15cm + +\subsection iomap_groups EtherCAT slave groups + +Slave groups can be used to group slaves into separate logic groups within an EtherCAT network. +Each group will have its own logic address space mapped to an IOmap address and make it possible to +send and receive process data at different update rate. + +Below is an example on how to assign a slave to a group. OBS! A slave can only be member in one group. + +\code + for (cnt = 1; cnt <= ec_slavecount; cnt++) + { + if ( ) + { + ec_slave[cnt].group = ; + } + else + { + ec_slave[cnt].group = ; + } + } +\endcode + +Alternative 1, configure all slave groups at once, call ec_config_map or ec_config_map_group with arg 0. +This option will share IOmap and store the group IOmap data at offset EC_LOGGROUPOFFSET. + +\code + ec_config_map_group(&IOmap, 0); +\endcode + +Alternative 2, configure the slave groups one by one, call ec_config_map or ec_config_map_group with arg , . +This option will use different, supplied by the user, IOmaps. + +\code + ec_config_map_group(&IOmap1, ); + ec_config_map_group(&IOmap2, ); +\endcode + +To exchange process data for given group(s) the user must call send/recv process data per group. +The send and receive stack of process data don't consider groups, so the application has to send +and receive the process data for one group before sending/receiving process data for another group. + +\code + ec_send_processdata_group(); + ec_receive_processdata_group(, EC_TIMEOUTRET); + ec_send_processdata_group(); + ec_receive_processdata_group(, EC_TIMEOUTRET); +\endcode + \section application Application \subsection iomap Accessing data through IOmap