AdditionalAttributes

configure.mk

@@ -39,4 +39,3 @@ RTAIINCDIR = $(subst /rtai.h,,$(firstword $(wildcard $(foreach i,$(subst -I,,$(f
 ifneq ($(RTAIINCDIR),)
   RTAIDIR = $(realpath $(RTAIINCDIR)/..)
 endif
-

src/lcec.h

@@ -109,6 +109,7 @@ typedef struct lcec_master {
   uint32_t app_time_period;
   int sync_ref_cnt;
   int sync_ref_cycles;
+  uint32_t reference_time;
 } lcec_master_t;
 
 typedef struct {
@@ -155,6 +156,7 @@ typedef struct lcec_slave {
   ec_pdo_info_t *generic_pdos;
   ec_sync_info_t *generic_sync_managers;
   lcec_slave_sdoconf_t *sdo_config;
+  LCEC_CONF_ATTR_T attrs[LCEC_CONF_ATTR_MAX];
 } lcec_slave_t;
 
 ec_sdo_request_t *lcec_read_sdo(struct lcec_slave *slave, uint16_t index, uint8_t subindex, size_t size);

src/lcec_conf.c

@@ -36,6 +36,12 @@ typedef struct {
   LCEC_SLAVE_TYPE_T type;
 } LCEC_CONF_TYPELIST_T;
 
+typedef struct {
+  char *name;
+  LCEC_SLAVE_TYPE_T type;
+  char *attr[LCEC_CONF_ATTR_MAX];
+} LCEC_CONF_ATTRLIST_T;
+
 typedef struct {
   hal_u32_t *master_count;
   hal_u32_t *slave_count;
@@ -147,6 +153,12 @@ static const LCEC_CONF_TYPELIST_T slaveTypes[] = {
   { NULL }
 };
 
+static const LCEC_CONF_ATTRLIST_T slaveAttrs[] = {
+	{"DeASDA", lcecSlaveTypeDeASDA, "test","",""},
+	{"EL7041-1000", lcecSlaveTypeEL7041_1000, "maxCurrent","nomVoltage",""},
+	{NULL}
+};
+
 char *modname = "lcec_conf";
 int hal_comp_id;
 LCEC_CONF_HAL_T *conf_hal_data;
@@ -627,6 +639,8 @@ void parseMasterAttrs(const char **attr) {
 
 void parseSlaveAttrs(const char **attr) {
   LCEC_CONF_SLAVE_T *p = getOutputBuffer(sizeof(LCEC_CONF_SLAVE_T));
+  int i; 
+  int attrcont= -1 ;
   if (p == NULL) {
     return;
   }
@@ -687,7 +701,48 @@ void parseSlaveAttrs(const char **attr) {
         continue;
       }
     }
-
+	else { //Atributos adicionales para tipos no genericos, hay que comprobar si son validos y si no estan repetidos. 
+	//Additionals attributes for no generic type. It must check if they are valid and aren't repeated. 
+
+	  const LCEC_CONF_ATTRLIST_T *slaveAttr;
+	  for (slaveAttr = slaveAttrs; slaveAttr->name != NULL; slaveAttr++) { //recorremos lista con atributos validos por tipo de esclavo
+		if (p->type == slaveAttr->type){  //comprobamos si estamos en el esclavo correcto
+			for (i=0; i<LCEC_CONF_ATTR_MAX;i++){
+				if (strcmp(name, slaveAttr->attr[i]) == 0){
+					break; //vemos si el atributo es valido para el esclavo en cuestion
+				}
+			}
+			break;
+		}
+	  }
+	  if (slaveAttr->name == NULL) {  //si no ha encontrado el esclavo en la lista o no tenia los atributos validos
+		fprintf(stderr, "%s: ERROR: Invalid slave attribute %s\n", modname, name);
+		XML_StopParser(parser, 0);
+		return;
+	  }
+
+	  //hay que comprobar si no estaba repetido ya y guardarlo en el que este libre. 
+	  for (i=attrcont; i>=0; i--){ //comprobacion de repetido
+	    if (strcmp(name, p->attrs[i].attr) == 0){ //ya estaba definido y por tanto error
+			fprintf(stderr, "%s: ERROR: Duplicated slave attribute %s\n", modname, name);
+			XML_StopParser(parser, 0);
+			return;
+		}	
+	  }
+	  strncpy(p->attrs[attrcont+1].attr, name, LCEC_CONF_STR_MAXLEN);
+	  p->attrs[attrcont+1].attr[LCEC_CONF_STR_MAXLEN - 1] = 0;
+	  p->attrs[attrcont+1].val = atof(val);
+	  attrcont++;
+	  //POR seguridad y depuración comprobacion si pasa de LCEC_CONF_ATTR_MAX
+	  if (attrcont >= LCEC_CONF_ATTR_MAX){
+		  fprintf(stderr, "%s: ERROR: Mas de LCEC_CONF_ATTR_MAX atributos para el esclavo\n", modname);
+		  XML_StopParser(parser, 0);
+		  return;
+	  }
+
+	  continue;
+
+	}
     // handle error
     fprintf(stderr, "%s: ERROR: Invalid slave attribute %s\n", modname, name);
     XML_StopParser(parser, 0);

src/lcec_conf.h

@@ -28,6 +28,8 @@
 
 #define LCEC_CONF_STR_MAXLEN 48
 
+#define LCEC_CONF_ATTR_MAX 3
+
 #define LCEC_CONF_SDO_COMPLETE_SUBIDX -1
 #define LCEC_CONF_GENERIC_MAX_SUBPINS 32
 #define LCEC_CONF_GENERIC_MAX_BITLEN  255
@@ -141,6 +143,11 @@ typedef struct {
   char name[LCEC_CONF_STR_MAXLEN];
 } LCEC_CONF_MASTER_T;
 
+typedef struct {
+  char attr[LCEC_CONF_STR_MAXLEN];
+  float val;
+} LCEC_CONF_ATTR_T;
+
 typedef struct {
   LCEC_CONF_TYPE_T confType;
   int index;
@@ -154,6 +161,7 @@ typedef struct {
   unsigned int pdoMappingCount;
   size_t sdoConfigLength;
   char name[LCEC_CONF_STR_MAXLEN];
+  LCEC_CONF_ATTR_T attrs[LCEC_CONF_ATTR_MAX];
 } LCEC_CONF_SLAVE_T;
 
 typedef struct {

src/lcec_el7041_1000.c

@@ -241,7 +241,7 @@ int lcec_el7041_1000_init(int comp_id, struct lcec_slave *s, ec_pdo_entry_reg_t
   lcec_master_t *m = s->master;
   lcec_el7041_1000_data_t *hd;
   int err;
-
+  int i;
   // initialize callbacks
   s->proc_read  = lcec_el7041_1000_read;
   s->proc_write = lcec_el7041_1000_write;
@@ -253,7 +253,20 @@ int lcec_el7041_1000_init(int comp_id, struct lcec_slave *s, ec_pdo_entry_reg_t
   }
   memset(hd, 0, sizeof(lcec_el7041_1000_data_t));
   s->hal_data = hd;
-
+
+  for (i=0; i<LCEC_CONF_ATTR_MAX;i++){
+	  if (strcmp(s->attrs[i].attr,"maxCurrent")==0){
+		  if (ecrt_slave_config_sdo16(s->config, 0x8010, 0x01, s->attrs[i].val) != 0) {
+				rtapi_print_msg (RTAPI_MSG_ERR, LCEC_MSG_PFX "fail to configure slave %s.%s sdo 8010 01\n", m->name, s->name);
+		  }
+	  }
+	  else if (strcmp(s->attrs[i].attr,"nomVoltage")==0){
+		  if (ecrt_slave_config_sdo16(s->config, 0x8010, 0x03, s->attrs[i].val) != 0) {
+				rtapi_print_msg (RTAPI_MSG_ERR, LCEC_MSG_PFX "fail to configure slave %s.%s sdo 8010 03\n", m->name, s->name);
+		  }
+	  }
+  }
+
   // initialize sync info
   s->sync_info = lcec_el7041_1000_syncs;
 

src/lcec_main.c

@@ -24,6 +24,7 @@
 #include "lcec_el2xxx.h"
 #include "lcec_el2202.h"
 #include "lcec_el31x2.h"
+#include "lcec_el3255.h"
 #include "lcec_el40x1.h"
 #include "lcec_el40x2.h"
 #include "lcec_el41x2.h"
@@ -96,6 +97,8 @@ static const lcec_typelist_t types[] = {
   { lcecSlaveTypeEL2798, LCEC_EL2xxx_VID, LCEC_EL2798_PID, LCEC_EL2798_PDOS, lcec_el2xxx_init},
   { lcecSlaveTypeEL2809, LCEC_EL2xxx_VID, LCEC_EL2809_PID, LCEC_EL2809_PDOS, lcec_el2xxx_init},
 
+  { lcecSlaveTypeEP2028, LCEC_EL2xxx_VID, LCEC_EP2028_PID, LCEC_EP2028_PDOS, lcec_el2xxx_init},
+
   // analog in, 2ch, 16 bits
   { lcecSlaveTypeEL3102, LCEC_EL31x2_VID, LCEC_EL3102_PID, LCEC_EL31x2_PDOS, lcec_el31x2_init},
   { lcecSlaveTypeEL3112, LCEC_EL31x2_VID, LCEC_EL3112_PID, LCEC_EL31x2_PDOS, lcec_el31x2_init},
@@ -104,6 +107,9 @@ static const lcec_typelist_t types[] = {
   { lcecSlaveTypeEL3152, LCEC_EL31x2_VID, LCEC_EL3152_PID, LCEC_EL31x2_PDOS, lcec_el31x2_init},
   { lcecSlaveTypeEL3162, LCEC_EL31x2_VID, LCEC_EL3162_PID, LCEC_EL31x2_PDOS, lcec_el31x2_init},
 
+  // analog in, 5ch, 16 bits
+  { lcecSlaveTypeEL3255, LCEC_EL3255_VID, LCEC_EL3255_PID, LCEC_EL3255_PDOS, lcec_el3255_init},
+
   // analog out, 1ch, 12 bits
   { lcecSlaveTypeEL4001, LCEC_EL40x1_VID, LCEC_EL4001_PID, LCEC_EL40x1_PDOS, lcec_el40x1_init},
   { lcecSlaveTypeEL4011, LCEC_EL40x1_VID, LCEC_EL4011_PID, LCEC_EL40x1_PDOS, lcec_el40x1_init},
@@ -464,6 +470,7 @@ int lcec_parse_config(void) {
         master->name[LCEC_CONF_STR_MAXLEN - 1] = 0;
         master->mutex = 0;
         master->app_time = 0;
+        master->reference_time = 0;
         master->app_time_period = master_conf->appTimePeriod;
         master->sync_ref_cnt = 0;
         master->sync_ref_cycles = master_conf->refClockSyncCycles;
@@ -761,7 +768,6 @@ int lcec_parse_config(void) {
           generic_hal_data->dir = generic_hal_dir;
           generic_hal_data->pdo_idx = pe_conf->index;
           generic_hal_data->pdo_sidx = pe_conf->subindex;
-          generic_hal_data->pdo_len = pe_conf->bitLength;
           generic_hal_data++;
         }
 
@@ -799,7 +805,6 @@ int lcec_parse_config(void) {
           generic_hal_data->dir = generic_hal_dir;
           generic_hal_data->pdo_idx = pe_conf->index;
           generic_hal_data->pdo_sidx = pe_conf->subindex;
-          generic_hal_data->pdo_len = pe_conf->bitLength;
           generic_hal_data++;
         }
         break;
@@ -1110,7 +1115,11 @@ void lcec_write_master(void *arg, long period) {
 
   // send process data
   rtapi_mutex_get(&master->mutex);
-
+
+
+  // update application time
+  master->app_time += master->app_time_period;
+/*
   // update application time
   master->app_time += master->app_time_period;
   ecrt_master_application_time(master->master, master->app_time);
@@ -1126,7 +1135,22 @@ void lcec_write_master(void *arg, long period) {
 
   // sync slaves to ref clock
   ecrt_master_sync_slave_clocks(master->master);
-
+*/if (master->reference_time == 0)
+  {
+    ecrt_master_reference_clock_time(master->master, &master->reference_time); //consigo el tiempo del reference clock y lo guardo en master->reference_time
+    master->app_time = master->reference_time; 
+  }
+  else
+  {
+      ecrt_master_reference_clock_time(master->master, &master->reference_time); //consigo el tiempo del reference clock y lo guardo en master->reference_time
+  }
+  ecrt_master_sync_slave_clocks(master->master); // sync slaves to ref clock
+  ecrt_master_application_time(master->master, master->reference_time+master->app_time_period); 
+
+
+
+
+
   // send domain data
   ecrt_domain_queue(master->domain);
   ecrt_master_send(master->master);