ethercatconfig.c

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/*
 * Simple Open EtherCAT Master Library 
 *
 * File    : ethercatconfig.c
 * Version : 1.2.5
 * Date    : 09-04-2011
 * Copyright (C) 2005-2011 Speciaal Machinefabriek Ketels v.o.f.
 * Copyright (C) 2005-2011 Arthur Ketels
 * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
 *
 * SOEM is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License version 2 as published by the Free
 * Software Foundation.
 *
 * SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
 * WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
 * for more details.
 *
 * As a special exception, if other files instantiate templates or use macros
 * or inline functions from this file, or you compile this file and link it
 * with other works to produce a work based on this file, this file does not
 * by itself cause the resulting work to be covered by the GNU General Public
 * License. However the source code for this file must still be made available
 * in accordance with section (3) of the GNU General Public License.
 *
 * This exception does not invalidate any other reasons why a work based on
 * this file might be covered by the GNU General Public License.
 *
 * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
 * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
 * the sole purpose of creating, using and/or selling or otherwise distributing
 * an EtherCAT network master provided that an EtherCAT Master License is obtained
 * from Beckhoff Automation GmbH.
 *
 * In case you did not receive a copy of the EtherCAT Master License along with
 * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
 * (www.beckhoff.com).
 */

#include <stdio.h>
#include <string.h>
#include <sys/time.h>
#include <unistd.h>
#include <youbot_driver/soem/ethercattype.h>
#include <youbot_driver/soem/nicdrv.h>
#include <youbot_driver/soem/ethercatbase.h>
#include <youbot_driver/soem/ethercatmain.h>
#include <youbot_driver/soem/ethercatcoe.h>
#include <youbot_driver/soem/ethercatsoe.h>
#include <youbot_driver/soem/ethercatconfig.h>

// define if debug printf is needed
//#define EC_DEBUG

#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif

typedef const struct
{
  uint32 man;
  uint32 id;
  char name[EC_MAXNAME + 1];
  uint8 Dtype;
  uint16 Ibits;
  uint16 Obits;
  uint16 SM2a;
  uint32 SM2f;
  uint16 SM3a;
  uint32 SM3f;
  uint8 FM0ac;
  uint8 FM1ac;
} ec_configlist_t;

#include <youbot_driver/soem/ethercatconfiglist.h>

#define EC_DEFAULTMBXSM0        0x00010026

#define EC_DEFAULTMBXSM1        0x00010022

#define EC_DEFAULTDOSM0         0x00010044

static ec_eepromSMt ec_SM;
static ec_eepromFMMUt ec_FMMU;

int ec_findconfig(uint32 man, uint32 id)
{
  int i = 0;

  do
  {
    i++;
  } while ((ec_configlist[i].man != EC_CONFIGEND) && ((ec_configlist[i].man != man) || (ec_configlist[i].id != id)));
  if (ec_configlist[i].man == EC_CONFIGEND)
    i = 0;

  return i;
}

int ec_config_init(uint8 usetable)
{
  uint16 w, slave, ADPh, configadr, /*mbx_wo, mbx_ro, mbx_l, mbx_rl,*/ssigen;
  uint16 topology, estat;
  int16 topoc, slavec;
  uint8 b, h;
  uint8 zbuf[64];
  uint8 SMc;
  uint32 eedat;
  int wkc, cindex, nSM, lp;

  EC_PRINT("ec_config_init %d\n", usetable);
  ec_slavecount = 0;
  /* clean ec_slave array */
  memset(&ec_slave, 0x00, sizeof(ec_slave));
  memset(&zbuf, 0x00, sizeof(zbuf));
  memset(&ec_group, 0x00, sizeof(ec_group));
  for (lp = 0; lp < EC_MAXGROUP; lp++)
  {
    ec_group[lp].logstartaddr = lp << 16; /* default start address per group entry */
  }
  w = 0x0000;
  wkc = ec_BRD(0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
  if (wkc > 0)
  {
    ec_slavecount = wkc;
    b = 0x00;
    ec_BWR(0x0000, ECT_REG_DLPORT, sizeof(b), &b, EC_TIMEOUTRET); /* deact loop manual */
    w = htoes(0x0004);
    ec_BWR(0x0000, ECT_REG_IRQMASK, sizeof(w), &w, EC_TIMEOUTRET); /* set IRQ mask */
    ec_BWR(0x0000, ECT_REG_RXERR, 8, &zbuf, EC_TIMEOUTRET); /* reset CRC counters */
    ec_BWR(0x0000, ECT_REG_FMMU0, 16 * 3, &zbuf, EC_TIMEOUTRET); /* reset FMMU's */
    ec_BWR(0x0000, ECT_REG_SM0, 8 * 4, &zbuf, EC_TIMEOUTRET); /* reset SyncM */
    ec_BWR(0x0000, ECT_REG_DCSYSTIME, 4, &zbuf, EC_TIMEOUTRET); /* reset system time+ofs */
    w = htoes(0x1000);
    ec_BWR(0x0000, ECT_REG_DCSPEEDCNT, sizeof(w), &w, EC_TIMEOUTRET); /* DC speedstart */
    w = htoes(0x0c00);
    ec_BWR(0x0000, ECT_REG_DCTIMEFILT, sizeof(w), &w, EC_TIMEOUTRET); /* DC filt expr */
    b = 0x00;
    ec_BWR(0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET); /* Ignore Alias register */
    b = EC_STATE_INIT | EC_STATE_ACK;
    ec_BWR(0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET); /* Reset all slaves to Init */
    b = 2;
    ec_BWR(0x0000, ECT_REG_EEPCFG, sizeof(b), &b, EC_TIMEOUTRET); /* force Eeprom from PDI */
    b = 0;
    ec_BWR(0x0000, ECT_REG_EEPCFG, sizeof(b), &b, EC_TIMEOUTRET); /* set Eeprom to master */

    for (slave = 1; slave <= ec_slavecount; slave++)
    {
      ADPh = (uint16)(1 - slave);
      ec_slave[slave].Itype = etohs(ec_APRDw(ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET)); /* read interface type of slave */
      /* a node offset is used to improve readibility of network frames */
      /* this has no impact on the number of addressable slaves (auto wrap around) */
      ec_APWRw(ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET), EC_TIMEOUTRET); /* set node address of slave */
      if (slave == 1)
        b = 1; /* kill non ecat frames for first slave */
      else
        b = 0; /* pass all frames for following slaves */
      ec_APWRw(ADPh, ECT_REG_DLCTL, htoes(b), EC_TIMEOUTRET); /* set non ecat frame behaviour */
      configadr = etohs(ec_APRDw(ADPh, ECT_REG_STADR, EC_TIMEOUTRET));
      ec_slave[slave].configadr = configadr;
      ec_FPRD(configadr, ECT_REG_ALIAS, sizeof(ec_slave[slave].aliasadr), &ec_slave[slave].aliasadr, EC_TIMEOUTRET);
      ec_FPRD(configadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET);
      estat = etohs(estat);
      if (estat & EC_ESTAT_R64) /* check if slave can read 8 byte chunks */
        ec_slave[slave].eep_8byte = 1;
      ec_readeeprom1(slave, ECT_SII_MANUF); /* Manuf */
    }
    for (slave = 1; slave <= ec_slavecount; slave++)
    {
      ec_slave[slave].eep_man = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* Manuf */
      ec_readeeprom1(slave, ECT_SII_ID); /* ID */
    }
    for (slave = 1; slave <= ec_slavecount; slave++)
    {
      ec_slave[slave].eep_id = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* ID */
      ec_readeeprom1(slave, ECT_SII_REV); /* revision */
    }
    for (slave = 1; slave <= ec_slavecount; slave++)
    {
      ec_slave[slave].eep_rev = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* revision */
      ec_readeeprom1(slave, ECT_SII_RXMBXADR); /* write mailbox address + mailboxsize */
    }
    for (slave = 1; slave <= ec_slavecount; slave++)
    {
      eedat = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* write mailbox address and mailboxsize */
      ec_slave[slave].mbx_wo = (uint16)LO_WORD(eedat);
      ec_slave[slave].mbx_l = (uint16)HI_WORD(eedat);
      if (ec_slave[slave].mbx_l > 0)
        ec_readeeprom1(slave, ECT_SII_TXMBXADR); /* read mailbox offset */
    }
    for (slave = 1; slave <= ec_slavecount; slave++)
    {
      if (ec_slave[slave].mbx_l > 0)
      {
        eedat = etohl(ec_readeeprom2(slave, EC_TIMEOUTEEP)); /* read mailbox offset */
        ec_slave[slave].mbx_ro = (uint16)LO_WORD(eedat); /* read mailbox offset */
        ec_slave[slave].mbx_rl = (uint16)HI_WORD(eedat); /*read mailbox length */
        if (ec_slave[slave].mbx_rl == 0)
          ec_slave[slave].mbx_rl = ec_slave[slave].mbx_l;
      }
      configadr = ec_slave[slave].configadr;
      /*mbx_ro = ec_slave[slave].mbx_ro;
       mbx_wo = ec_slave[slave].mbx_wo;
       mbx_l = ec_slave[slave].mbx_l;
       mbx_rl = ec_slave[slave].mbx_rl;*/
      if ((etohs(ec_FPRDw(configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET)) & 0x04) > 0) /* Support DC? */
        ec_slave[slave].hasdc = TRUE;
      else
        ec_slave[slave].hasdc = FALSE;
      topology = etohs(ec_FPRDw(configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET)); /* extract topology from DL status */
      h = 0;
      b = 0;
      if ((topology & 0x0300) == 0x0200) /* port0 open and communication established */
      {
        h++;
        b |= 0x01;
      }
      if ((topology & 0x0c00) == 0x0800) /* port1 open and communication established */
      {
        h++;
        b |= 0x02;
      }
      if ((topology & 0x3000) == 0x2000) /* port2 open and communication established */
      {
        h++;
        b |= 0x04;
      }
      if ((topology & 0xc000) == 0x8000) /* port3 open and communication established */
      {
        h++;
        b |= 0x08;
      }
      /* ptype = Physical type*/
      ec_slave[slave].ptype = LO_BYTE(etohs(ec_FPRDw(configadr, ECT_REG_PORTDES, EC_TIMEOUTRET)));
      ec_slave[slave].topology = h;
      ec_slave[slave].activeports = b;
      /* 0=no links, not possible             */
      /* 1=1 link  , end of line              */
      /* 2=2 links , one before and one after */
      /* 3=3 links , split point              */
      /* 4=4 links , cross point              */
      /* search for parent */
      ec_slave[slave].parent = 0; /* parent is master */
      if (slave > 1)
      {
        topoc = 0;
        slavec = slave - 1;
        do
        {
          topology = ec_slave[slavec].topology;
          if (topology == 1)
            topoc--; /* endpoint found */
          if (topology == 3)
            topoc++; /* split found */
          if (topology == 4)
            topoc += 2; /* cross found */
          if (((topoc >= 0) && (topology > 1)) || (slavec == 1)) /* parent found */
          {
            ec_slave[slave].parent = slavec;
            slavec = 1;
          }
          slavec--;
        } while (slavec > 0);
      }

      w = ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE); //* check state change Init */

      /* set default mailbox configuration if slave has mailbox */
      if (ec_slave[slave].mbx_l > 0)
      {
        ec_slave[slave].SMtype[0] = 1;
        ec_slave[slave].SMtype[1] = 2;
        ec_slave[slave].SMtype[2] = 3;
        ec_slave[slave].SMtype[3] = 4;
        ec_slave[slave].SM[0].StartAddr = htoes(ec_slave[slave].mbx_wo);
        ec_slave[slave].SM[0].SMlength = htoes(ec_slave[slave].mbx_l);
        ec_slave[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
        ec_slave[slave].SM[1].StartAddr = htoes(ec_slave[slave].mbx_ro);
        ec_slave[slave].SM[1].SMlength = htoes(ec_slave[slave].mbx_rl);
        ec_slave[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
        ec_slave[slave].mbx_proto = ec_readeeprom(slave, ECT_SII_MBXPROTO, EC_TIMEOUTEEP);
      }
      cindex = 0;
      /* use configuration table ? */
      if (usetable)
      {
        cindex = ec_findconfig(ec_slave[slave].eep_man, ec_slave[slave].eep_id);
        ec_slave[slave].configindex = cindex;
      }
      /* slave found in configuration table ? */
      if (cindex)
      {
        ec_slave[slave].Dtype = ec_configlist[cindex].Dtype;
        strcpy(ec_slave[slave].name, ec_configlist[cindex].name);
        ec_slave[slave].Ibits = ec_configlist[cindex].Ibits;
        ec_slave[slave].Obits = ec_configlist[cindex].Obits;
        if (ec_slave[slave].Obits)
          ec_slave[slave].FMMU0func = 1;
        if (ec_slave[slave].Ibits)
          ec_slave[slave].FMMU1func = 2;
        ec_slave[slave].FMMU[0].FMMUactive = ec_configlist[cindex].FM0ac;
        ec_slave[slave].FMMU[1].FMMUactive = ec_configlist[cindex].FM1ac;
        ec_slave[slave].SM[2].StartAddr = htoes(ec_configlist[cindex].SM2a);
        ec_slave[slave].SM[2].SMflags = htoel(ec_configlist[cindex].SM2f);
        /* simple (no mailbox) output slave found ? */
        if (ec_slave[slave].Obits && !ec_slave[slave].SM[2].StartAddr)
        {
          ec_slave[slave].SM[0].StartAddr = htoes(0x0f00);
          ec_slave[slave].SM[0].SMlength = htoes((ec_slave[slave].Obits + 7) / 8);
          ec_slave[slave].SM[0].SMflags = htoel(EC_DEFAULTDOSM0);
          ec_slave[slave].FMMU[0].FMMUactive = 1;
          ec_slave[slave].FMMU[0].FMMUtype = 2;
          ec_slave[slave].SMtype[0] = 3;
        }
        /* complex output slave */
        else
        {
          ec_slave[slave].SM[2].SMlength = htoes((ec_slave[slave].Obits + 7) / 8);
          ec_slave[slave].SMtype[2] = 3;
        }
        ec_slave[slave].SM[3].StartAddr = htoes(ec_configlist[cindex].SM3a);
        ec_slave[slave].SM[3].SMflags = htoel(ec_configlist[cindex].SM3f);
        /* simple (no mailbox) input slave found ? */
        if (ec_slave[slave].Ibits && !ec_slave[slave].SM[3].StartAddr)
        {
          ec_slave[slave].SM[1].StartAddr = htoes(0x1000);
          ec_slave[slave].SM[1].SMlength = htoes((ec_slave[slave].Ibits + 7) / 8);
          ec_slave[slave].SM[1].SMflags = htoel(0x00000000);
          ec_slave[slave].FMMU[1].FMMUactive = 1;
          ec_slave[slave].FMMU[1].FMMUtype = 1;
          ec_slave[slave].SMtype[1] = 4;
        }
        /* complex input slave */
        else
        {
          ec_slave[slave].SM[3].SMlength = htoes((ec_slave[slave].Ibits + 7) / 8);
          ec_slave[slave].SMtype[3] = 4;
        }
      }
      /* slave not in configuration table, find out via SII */
      else
      {
        ssigen = ec_siifind(slave, ECT_SII_GENERAL);
        /* SII general section */
        if (ssigen)
        {
          ec_slave[slave].CoEdetails = ec_siigetbyte(slave, ssigen + 0x07);
          ec_slave[slave].FoEdetails = ec_siigetbyte(slave, ssigen + 0x08);
          ec_slave[slave].EoEdetails = ec_siigetbyte(slave, ssigen + 0x09);
          ec_slave[slave].SoEdetails = ec_siigetbyte(slave, ssigen + 0x0a);
          if ((ec_siigetbyte(slave, ssigen + 0x0d) & 0x02) > 0)
          {
            ec_slave[slave].blockLRW = 1;
            ec_slave[0].blockLRW++;
          }
          ec_slave[slave].Ebuscurrent = ec_siigetbyte(slave, ssigen + 0x0e);
          ec_slave[slave].Ebuscurrent += ec_siigetbyte(slave, ssigen + 0x0f) << 8;
          ec_slave[0].Ebuscurrent += ec_slave[slave].Ebuscurrent;
        }
        /* SII strings section */
        if (ec_siifind(slave, ECT_SII_STRING) > 0)
          ec_siistring(ec_slave[slave].name, slave, 1);
        /* no name for slave found, use constructed name */
        else
        {
          sprintf(ec_slave[slave].name, "? M:%8.8x I:%8.8x", (unsigned int)ec_slave[slave].eep_man,
                  (unsigned int)ec_slave[slave].eep_id);
        }
        /* SII SM section */
        nSM = ec_siiSM(slave, &ec_SM);
        if (nSM > 0)
        {
          ec_slave[slave].SM[0].StartAddr = htoes(ec_SM.PhStart);
          ec_slave[slave].SM[0].SMlength = htoes(ec_SM.Plength);
          ec_slave[slave].SM[0].SMflags = htoel((ec_SM.Creg) + (ec_SM.Activate << 16));
          SMc = 1;
          while ((SMc < EC_MAXSM) && ec_siiSMnext(slave, &ec_SM, SMc))
          {
            ec_slave[slave].SM[SMc].StartAddr = htoes(ec_SM.PhStart);
            ec_slave[slave].SM[SMc].SMlength = htoes(ec_SM.Plength);
            ec_slave[slave].SM[SMc].SMflags = htoel((ec_SM.Creg) + (ec_SM.Activate << 16));
            SMc++;
          }
        }
        /* SII FMMU section */
        if (ec_siiFMMU(slave, &ec_FMMU))
        {
          if (ec_FMMU.FMMU0 != 0xff)
            ec_slave[slave].FMMU0func = ec_FMMU.FMMU0;
          if (ec_FMMU.FMMU1 != 0xff)
            ec_slave[slave].FMMU1func = ec_FMMU.FMMU1;
          if (ec_FMMU.FMMU2 != 0xff)
            ec_slave[slave].FMMU2func = ec_FMMU.FMMU2;
          if (ec_FMMU.FMMU3 != 0xff)
            ec_slave[slave].FMMU3func = ec_FMMU.FMMU3;
        }
      }

      if (ec_slave[slave].mbx_l > 0)
      {
        if (ec_slave[slave].SM[0].StartAddr == 0x0000) /* should never happen */
        {
          ec_slave[slave].SM[0].StartAddr = htoes(0x1000);
          ec_slave[slave].SM[0].SMlength = htoes(0x0080);
          ec_slave[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
          ec_slave[slave].SMtype[0] = 1;
        }
        if (ec_slave[slave].SM[1].StartAddr == 0x0000) /* should never happen */
        {
          ec_slave[slave].SM[1].StartAddr = htoes(0x1080);
          ec_slave[slave].SM[1].SMlength = htoes(0x0080);
          ec_slave[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
          ec_slave[slave].SMtype[1] = 2;
        }
        /* program SM0 mailbox in for slave */
        ec_FPWR(configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
        /* program SM1 mailbox out for slave */
        // usleep(1000); // was needed for NETX (needs internal time after SM update)
        ec_FPWR(configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
      }
      ec_FPWRw(configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP | EC_STATE_ACK), EC_TIMEOUTRET); /* set preop status */
    }
  }
  return wkc;
}

int ec_config_map_group(void *pIOmap, uint8 group)
{
  uint16 slave, configadr;
  int Isize, Osize, BitCount, ByteCount, FMMUsize, FMMUdone;
  uint16 SMlength;
  uint8 BitPos, EndAddr;
  uint8 SMc, FMMUc;
  uint32 LogAddr = 0;
  uint32 oLogAddr = 0;
  uint32 diff;
  int nSM; //, rval;
  ec_eepromPDOt eepPDO;
  uint16 currentsegment = 0;
  uint32 segmentsize = 0;

  if ((ec_slavecount > 0) && (group < EC_MAXGROUP))
  {
    EC_PRINT("ec_config_map_group IOmap:%p group:%d\n", pIOmap, group);
    LogAddr = ec_group[group].logstartaddr;
    oLogAddr = LogAddr;
    BitPos = 0;
    ec_group[group].nsegments = 0;
    ec_group[group].expectedWKC = 0;

    /* find output mapping of slave and program FMMU */
    for (slave = 1; slave <= ec_slavecount; slave++)
    {
      configadr = ec_slave[slave].configadr;

      ec_statecheck(slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); /* check state change pre-op */

      EC_PRINT(" >Slave %d, configadr %x, state %2.2x\n", slave, ec_slave[slave].configadr, ec_slave[slave].state);

      if (!group || (group == ec_slave[slave].group))
      {

        /* if slave not found in configlist find IO mapping in slave self */
        if (!ec_slave[slave].configindex)
        {
          Isize = 0;
          Osize = 0;
          if (ec_slave[slave].mbx_proto & ECT_MBXPROT_COE) /* has CoE */
          {
            if (ec_slave[slave].CoEdetails & ECT_COEDET_SDOCA) /* has Complete Access */
              /* read PDO mapping via CoE and use Complete Access */
              /*rval =*/ec_readPDOmapCA(slave, &Osize, &Isize);
            else
              /* read PDO mapping via CoE */
              /*rval =*/ec_readPDOmap(slave, &Osize, &Isize);
            EC_PRINT("  CoE Osize:%d Isize:%d\n", Osize, Isize);
          }
          if ((!Isize && !Osize) && (ec_slave[slave].mbx_proto & ECT_MBXPROT_SOE)) /* has SoE */
          {
            /* read AT / MDT mapping via SoE */
            /*rval =*/ec_readIDNmap(slave, &Osize, &Isize);
            ec_slave[slave].SM[2].SMlength = htoes((Osize + 7) / 8);
            ec_slave[slave].SM[3].SMlength = htoes((Isize + 7) / 8);
            EC_PRINT("  SoE Osize:%d Isize:%d\n", Osize, Isize);
          }
          if (!Isize && !Osize) /* find PDO mapping by SII */
          {
            memset(&eepPDO, 0, sizeof(eepPDO));
            Isize = (int)ec_siiPDO(slave, &eepPDO, 0);
            EC_PRINT("  SII Isize:%d\n", Isize);
            for (nSM = 0; nSM < EC_MAXSM; nSM++)
            {
              if (eepPDO.SMbitsize[nSM] > 0)
              {
                ec_slave[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
                ec_slave[slave].SMtype[nSM] = 4;
                EC_PRINT("    SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
              }
            }
            Osize = (int)ec_siiPDO(slave, &eepPDO, 1);
            EC_PRINT("  SII Osize:%d\n", Osize);
            for (nSM = 0; nSM < EC_MAXSM; nSM++)
            {
              if (eepPDO.SMbitsize[nSM] > 0)
              {
                ec_slave[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
                ec_slave[slave].SMtype[nSM] = 3;
                EC_PRINT("    SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
              }
            }
          }
          ec_slave[slave].Obits = Osize;
          ec_slave[slave].Ibits = Isize;
          EC_PRINT("     ISIZE:%d %d OSIZE:%d\n", ec_slave[slave].Ibits, Isize, ec_slave[slave].Obits);

        }

        EC_PRINT("  SM programming\n");
        if (!ec_slave[slave].mbx_l && ec_slave[slave].SM[0].StartAddr)
        {
          ec_FPWR(configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
          EC_PRINT("    SM0 Type:%d StartAddr:%4.4x Flags:%8.8x\n", ec_slave[slave].SMtype[0],
                   ec_slave[slave].SM[0].StartAddr, ec_slave[slave].SM[0].SMflags);
        }
        if (!ec_slave[slave].mbx_l && ec_slave[slave].SM[1].StartAddr)
        {
          ec_FPWR(configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
          EC_PRINT("    SM1 Type:%d StartAddr:%4.4x Flags:%8.8x\n", ec_slave[slave].SMtype[1],
                   ec_slave[slave].SM[1].StartAddr, ec_slave[slave].SM[1].SMflags);
        }
        /* program SM2 to SMx */
        for (nSM = 2; nSM < EC_MAXSM; nSM++)
        {
          if (ec_slave[slave].SM[nSM].StartAddr)
          {
            /* check if SM length is zero -> clear enable flag */
            if (ec_slave[slave].SM[nSM].SMlength == 0)
              ec_slave[slave].SM[nSM].SMflags = htoel( etohl(ec_slave[slave].SM[nSM].SMflags) & EC_SMENABLEMASK);
            ec_FPWR(configadr, ECT_REG_SM0 + (nSM * sizeof(ec_smt)), sizeof(ec_smt), &ec_slave[slave].SM[nSM],
                    EC_TIMEOUTRET);
            EC_PRINT("    SM%d Type:%d StartAddr:%4.4x Flags:%8.8x\n", nSM, ec_slave[slave].SMtype[nSM],
                     ec_slave[slave].SM[nSM].StartAddr, ec_slave[slave].SM[nSM].SMflags);
          }
        }
        if (ec_slave[slave].Ibits > 7)
          ec_slave[slave].Ibytes = (ec_slave[slave].Ibits + 7) / 8;
        if (ec_slave[slave].Obits > 7)
          ec_slave[slave].Obytes = (ec_slave[slave].Obits + 7) / 8;

        FMMUc = ec_slave[slave].FMMUunused;
        SMc = 0;
        BitCount = 0;
        ByteCount = 0;
        EndAddr = 0;
        FMMUsize = 0;
        FMMUdone = 0;
        /* create output mapping */
        if (ec_slave[slave].Obits)
        {
          EC_PRINT("  OUTPUT MAPPING\n");
          /* search for SM that contribute to the output mapping */
          while ((SMc < (EC_MAXSM - 1)) && (FMMUdone < ((ec_slave[slave].Obits + 7) / 8)))
          {
            EC_PRINT("    FMMU %d\n", FMMUc);
            while ((SMc < (EC_MAXSM - 1)) && (ec_slave[slave].SMtype[SMc] != 3))
              SMc++;
            EC_PRINT("      SM%d\n", SMc);
            ec_slave[slave].FMMU[FMMUc].PhysStart = ec_slave[slave].SM[SMc].StartAddr;
            SMlength = etohs(ec_slave[slave].SM[SMc].SMlength);
            ByteCount += SMlength;
            BitCount += SMlength * 8;
            EndAddr = etohs(ec_slave[slave].SM[SMc].StartAddr)+ SMlength;
            while ((BitCount < ec_slave[slave].Obits) && (SMc < (EC_MAXSM - 1))) /* more SM for output */
            {
              SMc++;
              while ((SMc < (EC_MAXSM - 1)) && (ec_slave[slave].SMtype[SMc] != 3))
                SMc++;
              /* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
              if (etohs(ec_slave[slave].SM[SMc].StartAddr)> EndAddr ) break;
              EC_PRINT("      SM%d\n", SMc);
              SMlength = etohs(ec_slave[slave].SM[SMc].SMlength);
              ByteCount += SMlength;
              BitCount += SMlength * 8;
              EndAddr = etohs(ec_slave[slave].SM[SMc].StartAddr)+ SMlength;
            }

              /* bit oriented slave */
            if (!ec_slave[slave].Obytes)
            {
              ec_slave[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
              ec_slave[slave].FMMU[FMMUc].LogStartbit = BitPos;
              BitPos += ec_slave[slave].Obits - 1;
              if (BitPos > 7)
              {
                LogAddr++;
                BitPos -= 8;
              }
              FMMUsize = LogAddr - etohl(ec_slave[slave].FMMU[FMMUc].LogStart)+ 1;
              ec_slave[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
              ec_slave[slave].FMMU[FMMUc].LogEndbit = BitPos;
              BitPos++;
              if (BitPos > 7)
              {
                LogAddr++;
                BitPos -= 8;
              }
            }
            /* byte oriented slave */
            else
            {
              if (BitPos)
              {
                LogAddr++;
                BitPos = 0;
              }
              ec_slave[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
              ec_slave[slave].FMMU[FMMUc].LogStartbit = BitPos;
              BitPos = 7;
              FMMUsize = ByteCount;
              if ((FMMUsize + FMMUdone) > ec_slave[slave].Obytes)
                FMMUsize = ec_slave[slave].Obytes - FMMUdone;
              LogAddr += FMMUsize;
              ec_slave[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
              ec_slave[slave].FMMU[FMMUc].LogEndbit = BitPos;
              BitPos = 0;
            }
            FMMUdone += FMMUsize;
            ec_slave[slave].FMMU[FMMUc].PhysStartBit = 0;
            ec_slave[slave].FMMU[FMMUc].FMMUtype = 2;
            ec_slave[slave].FMMU[FMMUc].FMMUactive = 1;
            /* program FMMU for output */
            ec_FPWR(configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc), sizeof(ec_fmmut),
                    &ec_slave[slave].FMMU[FMMUc], EC_TIMEOUTRET);
            /* add two for an output FMMU */
            ec_group[group].expectedWKC += 2;
            if (!ec_slave[slave].outputs)
            {
              ec_slave[slave].outputs = pIOmap + etohl(ec_slave[slave].FMMU[FMMUc].LogStart);
              ec_slave[slave].Ostartbit = ec_slave[slave].FMMU[FMMUc].LogStartbit;
              EC_PRINT("    slave %d Outputs %p startbit %d\n", slave, ec_slave[slave].outputs, ec_slave[slave].Ostartbit);
                                        }
            FMMUc++;
          }
          ec_slave[slave].FMMUunused = FMMUc;
          diff = LogAddr - oLogAddr;
          oLogAddr = LogAddr;
          if ((segmentsize + diff) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
          {
            ec_group[group].IOsegment[currentsegment] = segmentsize;
            if (currentsegment < (EC_MAXIOSEGMENTS - 1))
            {
              currentsegment++;
              segmentsize = diff;
            }
          }
          else
            segmentsize += diff;
        }
      }
    }
    if (BitPos)
    {
      LogAddr++;
      oLogAddr = LogAddr;
      BitPos = 0;
      if ((segmentsize + 1) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
      {
        ec_group[group].IOsegment[currentsegment] = segmentsize;
        if (currentsegment < (EC_MAXIOSEGMENTS - 1))
        {
          currentsegment++;
          segmentsize = 1;
        }
      }
      else
        segmentsize += 1;
    }
    ec_group[group].outputs = pIOmap;
    ec_group[group].Obytes = LogAddr;
    ec_group[group].nsegments = currentsegment + 1;
    ec_group[group].Isegment = currentsegment;
    ec_group[group].Ioffset = segmentsize;
    if (!group)
    {
      ec_slave[0].outputs = pIOmap;
      ec_slave[0].Obytes = LogAddr; /* store output bytes in master record */
    }

    /* do input mapping of slave and program FMMUs */
    for (slave = 1; slave <= ec_slavecount; slave++)
    {
      configadr = ec_slave[slave].configadr;
      FMMUc = ec_slave[slave].FMMUunused;
      if (ec_slave[slave].Obits) /* find free FMMU */
        while (ec_slave[slave].FMMU[FMMUc].LogStart)
          FMMUc++;
      SMc = 0;
      BitCount = 0;
      ByteCount = 0;
      EndAddr = 0;
      FMMUsize = 0;
      FMMUdone = 0;
      /* create input mapping */
      if (ec_slave[slave].Ibits)
      {
        EC_PRINT(" =Slave %d, INPUT MAPPING\n", slave);
        /* search for SM that contribute to the input mapping */
        while ((SMc < (EC_MAXSM - 1)) && (FMMUdone < ((ec_slave[slave].Ibits + 7) / 8)))
        {
          EC_PRINT("    FMMU %d\n", FMMUc);
          while ((SMc < (EC_MAXSM - 1)) && (ec_slave[slave].SMtype[SMc] != 4))
            SMc++;
          EC_PRINT("      SM%d\n", SMc);
          ec_slave[slave].FMMU[FMMUc].PhysStart = ec_slave[slave].SM[SMc].StartAddr;
          SMlength = etohs(ec_slave[slave].SM[SMc].SMlength);
          ByteCount += SMlength;
          BitCount += SMlength * 8;
          EndAddr = etohs(ec_slave[slave].SM[SMc].StartAddr)+ SMlength;
          while ((BitCount < ec_slave[slave].Ibits) && (SMc < (EC_MAXSM - 1))) /* more SM for input */
          {
            SMc++;
            while ((SMc < (EC_MAXSM - 1)) && (ec_slave[slave].SMtype[SMc] != 4))
              SMc++;
            /* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
            if (etohs(ec_slave[slave].SM[SMc].StartAddr)> EndAddr ) break;
            EC_PRINT("      SM%d\n", SMc);
            SMlength = etohs(ec_slave[slave].SM[SMc].SMlength);
            ByteCount += SMlength;
            BitCount += SMlength * 8;
            EndAddr = etohs(ec_slave[slave].SM[SMc].StartAddr)+ SMlength;
          }

          /* bit oriented slave */
          if (!ec_slave[slave].Ibytes)
          {
            ec_slave[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
            ec_slave[slave].FMMU[FMMUc].LogStartbit = BitPos;
            BitPos += ec_slave[slave].Ibits - 1;
            if (BitPos > 7)
            {
              LogAddr++;
              BitPos -= 8;
            }
            FMMUsize = LogAddr - etohl(ec_slave[slave].FMMU[FMMUc].LogStart)+ 1;
            ec_slave[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
            ec_slave[slave].FMMU[FMMUc].LogEndbit = BitPos;
            BitPos++;
            if (BitPos > 7)
            {
              LogAddr++;
              BitPos -= 8;
            }
          }
          /* byte oriented slave */
          else
          {
            if (BitPos)
            {
              LogAddr++;
              BitPos = 0;
            }
            ec_slave[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
            ec_slave[slave].FMMU[FMMUc].LogStartbit = BitPos;
            BitPos = 7;
            FMMUsize = ByteCount;
            if ((FMMUsize + FMMUdone) > ec_slave[slave].Ibytes)
              FMMUsize = ec_slave[slave].Ibytes - FMMUdone;
            LogAddr += FMMUsize;
            ec_slave[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
            ec_slave[slave].FMMU[FMMUc].LogEndbit = BitPos;
            BitPos = 0;
          }
          FMMUdone += FMMUsize;
          if (ec_slave[slave].FMMU[FMMUc].LogLength)
          {
            ec_slave[slave].FMMU[FMMUc].PhysStartBit = 0;
            ec_slave[slave].FMMU[FMMUc].FMMUtype = 1;
            ec_slave[slave].FMMU[FMMUc].FMMUactive = 1;
            /* program FMMU for input */
            ec_FPWR(configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc), sizeof(ec_fmmut),
                    &ec_slave[slave].FMMU[FMMUc], EC_TIMEOUTRET);
            /* add one for an input FMMU */
            ec_group[group].expectedWKC += 1;
          }
          if (!ec_slave[slave].inputs)
          {
            ec_slave[slave].inputs = pIOmap + etohl(ec_slave[slave].FMMU[FMMUc].LogStart);
            ec_slave[slave].Istartbit = ec_slave[slave].FMMU[FMMUc].LogStartbit;
            EC_PRINT("    Inputs %p startbit %d\n", ec_slave[slave].inputs, ec_slave[slave].Istartbit);
          }
          FMMUc++;
        }
        ec_slave[slave].FMMUunused = FMMUc;
        diff = LogAddr - oLogAddr;
        oLogAddr = LogAddr;
        if ((segmentsize + diff) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
        {
          ec_group[group].IOsegment[currentsegment] = segmentsize;
          if (currentsegment < (EC_MAXIOSEGMENTS - 1))
          {
            currentsegment++;
            segmentsize = diff;
          }
        }
        else
          segmentsize += diff;
      }

      ec_eeprom2pdi(slave); /* set Eeprom control to PDI */
      ec_FPWRw(configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP), EC_TIMEOUTRET); /* set safeop status */

    }
    if (BitPos)
    {
      LogAddr++;
      oLogAddr = LogAddr;
      BitPos = 0;
      if ((segmentsize + 1) > (EC_MAXLRWDATA - EC_FIRSTDCDATAGRAM))
      {
        ec_group[group].IOsegment[currentsegment] = segmentsize;
        if (currentsegment < (EC_MAXIOSEGMENTS - 1))
        {
          currentsegment++;
          segmentsize = 1;
        }
      }
      else
        segmentsize += 1;
    }
    ec_group[group].IOsegment[currentsegment] = segmentsize;
    ec_group[group].nsegments = currentsegment + 1;
    ec_group[group].inputs = pIOmap + ec_group[group].Obytes;
    ec_group[group].Ibytes = LogAddr - ec_group[group].Obytes;
    if (ec_slave[slave].blockLRW)
      ec_group[group].blockLRW++;
    ec_group[group].Ebuscurrent += ec_slave[slave].Ebuscurrent;
    if (!group)
    {
      ec_slave[0].inputs = pIOmap + ec_slave[0].Obytes;
      ec_slave[0].Ibytes = LogAddr - ec_slave[0].Obytes; /* store input bytes in master record */
    }

    EC_PRINT("IOmapSize %d\n", LogAddr - ec_group[group].logstartaddr);
    return (LogAddr - ec_group[group].logstartaddr);
  }
  return 0;
}

int ec_config_map(void *pIOmap)
{
  return ec_config_map_group(pIOmap, 0);
}

int ec_config(uint8 usetable, void *pIOmap)
{
  int wkc;
  wkc = ec_config_init(usetable);
  if (wkc)
    ec_config_map(pIOmap);
  return wkc;
}

int ec_recover_slave(uint16 slave)
{
  int rval;
  uint16 ADPh, configadr;

  rval = 0;
  configadr = ec_slave[slave].configadr;
  /* clear possible slaves at EC_TEMPNODE */
  ec_FPWRw(EC_TEMPNODE, ECT_REG_STADR, htoes(0), 0);
  ADPh = (uint16)(1 - slave);
  /* set temporary node address of slave */
  if (ec_APWRw(ADPh, ECT_REG_STADR, htoes(EC_TEMPNODE), EC_TIMEOUTRET) <= 0)
    return 0; /* slave fails to respond */

  ec_slave[slave].configadr = EC_TEMPNODE; /* temporary config address */
  ec_eeprom2master(slave); /* set Eeprom control to master */

  /* check if slave is the same as configured before */
  if ((ec_FPRDw(EC_TEMPNODE, ECT_REG_ALIAS, EC_TIMEOUTRET) == ec_slave[slave].aliasadr)
      && (ec_readeeprom(slave, ECT_SII_ID, EC_TIMEOUTEEP) == ec_slave[slave].eep_id)
      && (ec_readeeprom(slave, ECT_SII_MANUF, EC_TIMEOUTEEP) == ec_slave[slave].eep_man)
      && (ec_readeeprom(slave, ECT_SII_REV, EC_TIMEOUTEEP) == ec_slave[slave].eep_rev))
  {
    rval = ec_FPWRw(EC_TEMPNODE, ECT_REG_STADR, htoes(configadr), EC_TIMEOUTRET);
    ec_slave[slave].configadr = configadr;
  }
  else
  {
    /* slave is not the expected one, remove config address*/
    ec_FPWRw(EC_TEMPNODE, ECT_REG_STADR, htoes(0), EC_TIMEOUTRET);
    ec_slave[slave].configadr = configadr;
  }

  return rval;
}

int ec_reconfig_slave(uint16 slave)
{
  int state, nSM, FMMUc;
  uint16 configadr;

  configadr = ec_slave[slave].configadr;
  if (ec_FPWRw(configadr, ECT_REG_ALCTL, htoes(EC_STATE_INIT), EC_TIMEOUTRET) <= 0)
    return 0;
  state = 0;
  ec_eeprom2pdi(slave); /* set Eeprom control to PDI */
  /* check state change init */
  state = ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE);
  if (state == EC_STATE_INIT)
  {
    /* program all enabled SM */
    for (nSM = 0; nSM < EC_MAXSM; nSM++)
    {
      if (ec_slave[slave].SM[nSM].StartAddr)
        ec_FPWR(configadr, ECT_REG_SM0 + (nSM * sizeof(ec_smt)), sizeof(ec_smt), &ec_slave[slave].SM[nSM],
                EC_TIMEOUTRET);
    }
    /* program configured FMMU */
    for (FMMUc = 0; FMMUc < ec_slave[slave].FMMUunused; FMMUc++)
    {
      ec_FPWR(configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc), sizeof(ec_fmmut), &ec_slave[slave].FMMU[FMMUc],
              EC_TIMEOUTRET);
    }
    ec_FPWRw(configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP), EC_TIMEOUTRET);
    state = ec_statecheck(slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); /* check state change pre-op */
    if (state == EC_STATE_PRE_OP)
    {
      ec_FPWRw(configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP), EC_TIMEOUTRET); /* set safeop status */
      state = ec_statecheck(slave, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* check state change safe-op */
    }
  }
  return state;
}