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Merge pull request #120 from nakarlsson/master 

Improve SM validation for input- ouput only slaves
pull/138/head
nakarlsson 2022-10-03 19:53:38 +02:00 committed by GitHub
parent ac0031aef5 8ebb78ea10
commit a7a017c26f
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 79 additions and 31 deletions
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8
applications/rtl_xmc4_dynpdo/main.c
View File

@ -38,6 +38,13 @@ void cb_state_change (uint8_t * as, uint8_t * an)
/* Enable watchdog interrupt */
ESC_ALeventmaskwrite (ESC_ALeventmaskread() | ESCREG_ALEVENT_WD);
}
else if (*as == PREOP_TO_SAFEOP)
{
/* Write initial input data requried if an input only slave,
* otherwise the SM3 will never occur.
*/
DIG_process (DIG_PROCESS_INPUTS_FLAG);
}
}
/* Setup of DC */
@ -70,6 +77,7 @@ int main (void)
.esc_hw_interrupt_disable = ESC_interrupt_disable,
.esc_hw_eep_handler = ESC_eep_handler,
.esc_check_dc_handler = dc_checker
.get_device_id = NULL
};
rprintf ("Hello world\n");

67
soes/esc.c
View File

@ -697,15 +697,32 @@ uint8_t ESC_checkSM23 (uint8_t state)
/* fail state change */
return (ESCpreop | ESCerror);
}
/* If length > 0 check run-time settings */
else if ((ESCvar.ESC_SM2_sml > 0) &&
((etohs (SM->Length) != ESCvar.ESC_SM2_sml) ||
!(SM->ActESC & ESC_SM2_act)))
/* Check run-time settings */
/* Check length */
else if (etohs (SM->Length) != ESCvar.ESC_SM2_sml)
{
ESCvar.SMtestresult = SMRESULT_ERRSM2;
/* fail state change */
return (ESCpreop | ESCerror);
}
/* SM disabled and (SM activated or length > 0) set by master */
else if (((ESC_SM2_act & ESCREG_SYNC_ACT_ACTIVATED) == 0) &&
((SM->ActESC & ESCREG_SYNC_ACT_ACTIVATED) || (ESCvar.ESC_SM2_sml > 0)))
{
ESCvar.SMtestresult = SMRESULT_ERRSM2;
/* fail state change */
return (ESCpreop | ESCerror);
}
/* SM enabled and (length > 0 but SM disabled) set by master */
else if (((ESC_SM2_act & ESCREG_SYNC_ACT_ACTIVATED) > 0) &&
((SM->ActESC & ESCREG_SYNC_ACT_ACTIVATED) == 0) &&
(ESCvar.ESC_SM2_sml > 0))
{
ESCvar.SMtestresult = SMRESULT_ERRSM2;
/* fail state change */
return (ESCpreop | ESCerror);
}
if ((ESC_SM2_sma + (etohs (SM->Length) * 3)) > ESC_SM3_sma)
{
ESCvar.SMtestresult = SMRESULT_ERRSM2;
@ -723,10 +740,26 @@ uint8_t ESC_checkSM23 (uint8_t state)
/* fail state change */
return (ESCpreop | ESCerror);
}
/* If length > 0 check run-time settings */
else if ((ESCvar.ESC_SM3_sml > 0) &&
((etohs (SM->Length) != ESCvar.ESC_SM3_sml) ||
!(SM->ActESC & ESC_SM3_act)))
/* Check run-time settings */
/* Check length */
else if (etohs (SM->Length) != ESCvar.ESC_SM3_sml)
{
ESCvar.SMtestresult = SMRESULT_ERRSM3;
/* fail state change */
return (ESCpreop | ESCerror);
}
/* SM disabled and (SM activated or length > 0) set by master */
else if (((ESC_SM3_act & ESCREG_SYNC_ACT_ACTIVATED) == 0) &&
((SM->ActESC & ESCREG_SYNC_ACT_ACTIVATED) || (ESCvar.ESC_SM3_sml > 0)))
{
ESCvar.SMtestresult = SMRESULT_ERRSM3;
/* fail state change */
return (ESCpreop | ESCerror);
}
/* SM enabled and (length > 0 but SM disabled) set by master */
else if (((ESC_SM3_act & ESCREG_SYNC_ACT_ACTIVATED) > 0) &&
((SM->ActESC & ESCREG_SYNC_ACT_ACTIVATED) == 0) &&
(ESCvar.ESC_SM3_sml > 0))
{
ESCvar.SMtestresult = SMRESULT_ERRSM3;
/* fail state change */
@ -794,15 +827,22 @@ uint8_t ESC_startinput (uint8_t state)
{
if (ESCvar.esc_hw_interrupt_enable != NULL)
{
if(ESCvar.dcsync > 0)
uint32_t int_mask;
if (ESCvar.ESC_SM2_sml == 0)
{
ESCvar.esc_hw_interrupt_enable(ESCREG_ALEVENT_DC_SYNC0 |
ESCREG_ALEVENT_SM2);
int_mask = ESCREG_ALEVENT_SM3;
}
else
{
ESCvar.esc_hw_interrupt_enable(ESCREG_ALEVENT_SM2);
int_mask = ESCREG_ALEVENT_SM2;
}
if (ESCvar.dcsync > 0)
{
int_mask |= ESCREG_ALEVENT_DC_SYNC0;
}
ESCvar.esc_hw_interrupt_enable (int_mask);
}
}
}
@ -825,7 +865,8 @@ void ESC_stopinput (void)
(ESCvar.esc_hw_interrupt_disable != NULL))
{
ESCvar.esc_hw_interrupt_disable (ESCREG_ALEVENT_DC_SYNC0 |
ESCREG_ALEVENT_SM2);
ESCREG_ALEVENT_SM2 |
ESCREG_ALEVENT_SM3);
}
}

29
soes/hal/raspberrypi-lan9252/esc_hw.c
View File

@ -567,15 +567,13 @@ void ESC_init (const esc_cfg_t * config)
void ESC_interrupt_enable (uint32_t mask)
{
if (ESCREG_ALEVENT_DC_SYNC0 & mask)
// Enable interrupt for SYNC0 or SM2 or SM3
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
ESCREG_ALEVENT_SM2 |
ESCREG_ALEVENT_SM3;
if (mask & user_int_mask)
{
// Enable interrupt from SYNC0
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_DC_SYNC0);
}
if (ESCREG_ALEVENT_SM2 & mask)
{
// Enable interrupt from SYNC0
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | ESCREG_ALEVENT_SM2);
ESC_ALeventmaskwrite(ESC_ALeventmaskread() | (mask & user_int_mask));
}
// Set LAN9252 interrupt pin driver as push-pull active high
@ -587,17 +585,18 @@ void ESC_interrupt_enable (uint32_t mask)
void ESC_interrupt_disable (uint32_t mask)
{
if (ESCREG_ALEVENT_DC_SYNC0 & mask)
// Enable interrupt for SYNC0 or SM2 or SM3
uint32_t user_int_mask = ESCREG_ALEVENT_DC_SYNC0 |
ESCREG_ALEVENT_SM2 |
ESCREG_ALEVENT_SM3;
if (mask & user_int_mask)
{
// Disable interrupt from SYNC0
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_DC_SYNC0));
}
if (ESCREG_ALEVENT_SM2 & mask)
{
// Disable interrupt from SM2
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(ESCREG_ALEVENT_SM2));
ESC_ALeventmaskwrite(ESC_ALeventmaskread() & ~(mask & user_int_mask));
}
// Disable LAN9252 interrupt
bcm2835_spi_write_32(ESC_CMD_INT_EN, 0x00000000);
}

4
soes/hal/rt-kernel-xmc4/esc_hw.c
View File

@ -242,8 +242,8 @@ static void ecat_isr (void * arg)
CC_ATOMIC_SET(ESCvar.ALevent, etohl(ecat0->AL_EVENT_REQ));
CC_ATOMIC_SET(ESCvar.Time, etohl(ecat0->READMode_DC_SYS_TIME[0]));
/* Handle SM2 interrupt */
if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
/* Handle SM2 & SM3 interrupt */
if(ESCvar.ALevent & (ESCREG_ALEVENT_SM2 | ESCREG_ALEVENT_SM3))
{
/* Is DC active or not */
if(ESCvar.dcsync == 0)

2
soes/hal/tiesc/esc_hw.c
View File

@ -301,7 +301,7 @@ void PDI_Isr(void)
alevent = bsp_read_word_isr(escHwPruIcssHandle,ESCREG_ALEVENT);
CC_ATOMIC_SET(ESCvar.ALevent, etohs(alevent));
if(ESCvar.ALevent & ESCREG_ALEVENT_SM2)
if(ESCvar.ALevent & (ESCREG_ALEVENT_SM2 & ESCREG_ALEVENT_SM3))
{
DIG_process(DIG_PROCESS_OUTPUTS_FLAG |
DIG_PROCESS_APP_HOOK_FLAG |