minor changes

Author: jimy-byerley

examples/sdo_mapping.rs

@@ -39,8 +39,8 @@ async fn main() -> std::io::Result<()> {
                 let torque = pdo.push(Sdo::<i16>::complete(0x6077));
     println!("done {:#?}", config);
 
-    let mut allocator = mapping::Allocator::new();
-    let mut group = allocator.group(&master, &mapping);
+    let allocator = mapping::Allocator::new();
+    let group = allocator.group(&master, &mapping);
 
     println!("group {:#?}", group);
     println!("fields  {:#?}", (control, status, error, position));
@@ -56,6 +56,7 @@ async fn main() -> std::io::Result<()> {
     slave.switch(CommunicationState::Operational).await;
 
     for _ in 0 .. 20 {
+        let mut group = group.data().await;
         group.exchange().await;
         println!("received {:?}  {}  {}  {}  {}", 
             group.get(restatus),
@@ -66,12 +67,6 @@ async fn main() -> std::io::Result<()> {
             );
     }
 
-//     let sdo = Sdo::<u32>::complete(0x1c12);
-//     
-//     // test read/write
-//     let received = slave.coe().await.sdo_read(&sdo, u2::new(1)).await;
-//     slave.coe().await.sdo_write(&sdo, u2::new(1), received).await;
-    
     Ok(())
 }
 

examples/servodrive_run.rs

@@ -23,7 +23,6 @@ async fn main() -> std::io::Result<()> {
         std::thread::spawn(move || loop {
             master.send();
     })};
-    std::thread::sleep(Duration::from_millis(500));
 
     println!("create mapping");
     let config = mapping::Config::default();
@@ -47,8 +46,8 @@ async fn main() -> std::io::Result<()> {
                 let _current_torque  = pdo.push(sdo::cia402::current::torque);
     println!("done {:#?}", config);
 
-    let mut allocator = mapping::Allocator::new();
-    let mut group = tokio::sync::Mutex::new(allocator.group(&master, &mapping));
+    let allocator = mapping::Allocator::new();
+    let group = allocator.group(&master, &mapping);
 
     println!("group {:#?}", group);
     println!("fields {:#?}", (statusword, controlword));
@@ -59,7 +58,7 @@ async fn main() -> std::io::Result<()> {
     slave.init_mailbox().await;
     slave.init_coe().await;
     slave.switch(CommunicationState::PreOperational).await;
-    group.get_mut().configure(&slave).await;
+    group.configure(&slave).await;
     slave.switch(CommunicationState::SafeOperational).await;
     slave.switch(CommunicationState::Operational).await;
 
@@ -70,15 +69,15 @@ async fn main() -> std::io::Result<()> {
         async { 
             let mut period = tokio::time::interval(Duration::from_millis(1));
             loop {
-                let mut group = group.lock().await;
+                let mut group = group.data().await;
                 period.tick().await;
                 group.exchange().await;
                 cycle.notify_waiters();
             }
         },
         async {
             let initial = {
-                let mut group = group.lock().await;
+                let mut group = group.data().await;
 
                 let initial = group.get(current_position);
                 group.set(target_mode, OperationMode::SynchronousPosition);
@@ -88,17 +87,20 @@ async fn main() -> std::io::Result<()> {
                 println!("position  {}", initial);
                 initial
             };
+            
+            use bilge::prelude::u2;
+            println!("power: {:?}", slave.coe().await.sdo_read(&sdo::error, u2::new(0)).await);
 
             println!("switch on");
-            switch_on(statusword, controlword, &group, &cycle).await;
+            switch_on(statusword, controlword, error, &group, &cycle).await;
 
 			let velocity = 3_000_000;
 			let increment = 100_000_000;
 
 			println!("move forward");
 			loop {
                 cycle.notified().await;
-                let mut group = group.lock().await;
+                let mut group = group.data().await;
 
                 let position = group.get(current_position);
                 if position >= initial + increment {break}
@@ -109,7 +111,7 @@ async fn main() -> std::io::Result<()> {
 			println!("move backward");
             loop {
                 cycle.notified().await;
-                let mut group = group.lock().await;
+                let mut group = group.data().await;
 
                 let position = group.get(current_position);
                 if position <= initial {break}
@@ -129,55 +131,57 @@ async fn main() -> std::io::Result<()> {
 pub async fn switch_on(
 		statusword: Field<sdo::StatusWord>, 
 		controlword: Field<sdo::ControlWord>, 
-		group: &tokio::sync::Mutex<Group<'_>>,
+		error: Field<u16>,
+		group: &Group<'_>,
 		cycle: &tokio::sync::Notify,
 		) {
-	loop {
-		cycle.notified().await;
-		let mut group = group.lock().await;
-		
-		let status = group.get(statusword);
-		let mut control = sdo::ControlWord::default();
-		
-		// state "not ready to switch on"
-		if ! status.quick_stop() {
-			// move to "switch on disabled"
-			control.set_quick_stop(true);
-			control.set_enable_voltage(true);
-		}
-		// state "switch on disabled"
-		else if status.switch_on_disabled() {
-			control.set_quick_stop(true);
-			control.set_enable_voltage(true);
-			control.set_switch_on(false);
-		}
-		// state "ready to switch on"
-		else if ! status.switched_on() && status.ready_switch_on() {
-			// move to "switched on"
-			control.set_quick_stop(true);
-			control.set_enable_voltage(true);
-			control.set_switch_on(true);
-			control.set_enable_operation(false);
-		}
-		// state "ready to switch on" or "switched on"
-		else if ! status.operation_enabled() && (status.ready_switch_on() | status.switched_on()) {
-			// move to "operation enabled"
-			control.set_quick_stop(true);
-			control.set_enable_voltage(true);
-			control.set_switch_on(true);
-			control.set_enable_operation(true);
-		}
-		// state "fault"
-		else if status.fault() && ! status.switched_on() {
-			// move to "switch on disabled"
-			control.set_reset_fault(true);
-		}
-		// we are in the state we wanted !
-		else if status.operation_enabled() {
-			return;
-		}
-		group.set(controlword, control);
+	loop {		
+        {
+            let mut group = group.data().await;
+            let status = group.get(statusword);
+            let mut control = sdo::ControlWord::default();
+            
+            // state "not ready to switch on"
+            // we are in the state we wanted !
+            if status.operation_enabled() {
+                return;
+            }
+            // state "fault"
+            else if status.fault() && ! status.switched_on() {
+                // move to "switch on disabled"
+                control.set_reset_fault(true);
+            }
+            else if ! status.quick_stop() {
+                // move to "switch on disabled"
+                control.set_quick_stop(true);
+                control.set_enable_voltage(true);
+            }
+            // state "switch on disabled"
+            else if status.switch_on_disabled() {
+                control.set_quick_stop(true);
+                control.set_enable_voltage(true);
+                control.set_switch_on(false);
+            }
+            // state "ready to switch on"
+            else if ! status.switched_on() && status.ready_switch_on() {
+                // move to "switched on"
+                control.set_quick_stop(true);
+                control.set_enable_voltage(true);
+                control.set_switch_on(true);
+                control.set_enable_operation(false);
+            }
+            // state "ready to switch on" or "switched on"
+            else if ! status.operation_enabled() && (status.ready_switch_on() | status.switched_on()) {
+                // move to "operation enabled"
+                control.set_quick_stop(true);
+                control.set_enable_voltage(true);
+                control.set_switch_on(true);
+                control.set_enable_operation(true);
+            }
+            group.set(controlword, control);
+            println!("switch on {} {}  {:#x}", status, control, group.get(error));
+        }
 
-		println!("switch on {} {}  {:x}", status, control, u16::from(control));
+		cycle.notified().await;
 	}
 }

examples/slaves_discovery.rs

@@ -22,7 +22,7 @@ async fn main() -> std::io::Result<()> {
         std::thread::spawn(move || loop {
             unsafe {master.get_raw()}.send();
     })};
-    std::thread::sleep(Duration::from_millis(500));
+//     std::thread::sleep(Duration::from_millis(500));
 
     master.reset_addresses().await;
 

readme.md

@@ -39,9 +39,10 @@ This crate aims to bring yet a other implementation of an Ethercat master, The [
 
 ## non-goals
 
-- no-std  *(atm)*
+- no-std  *(at the moment)*
 - adapt to vendor-specific implementations of ethercat, or to vendor-specific devices
 - make abstraction of what the Ethercat protocol really does
+- fit the OSI model
 
 ##   Current complete feature list
 
@@ -96,3 +97,16 @@ cargo build --example slaves_discovery
 sudo target/debug/examples/slaves_discovery
 ```
 
+typical output:
+
+```
+  slave 7: "R88D-1SN01H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00"
+  slave 0: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00"
+  slave 6: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.01" software "V1.04.00"
+  slave 3: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00"
+  slave 5: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00"
+  slave 4: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00"
+  slave 1: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00"
+  slave 2: "R88D-1SN04H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.01" software "V1.04.00"
+```
+

src/can.rs

@@ -469,7 +469,7 @@ pub enum SdoAbortCode {
     UnsupportedCommand = 0x05_04_00_01,
     /// Out of memory
     OufOfMemory = 0x05_04_00_05,
-    /// Unsupported access to an object
+    /// Unsupported access to an object, this is raised when trying to access a complete SDO when complete SDO access is not supported
     UnsupportedAccess = 0x06_01_00_00,
     /// Attempt to read to a write only object
     WriteOnly = 0x06_01_00_01,

src/lib.rs

@@ -67,7 +67,7 @@ pub use crate::socket::*;
 pub use crate::rawmaster::{RawMaster, SlaveAddress};
 pub use crate::master::Master;
 pub use crate::slave::{Slave, CommunicationState};
-pub use crate::mapping::{Mapping, Group};
+pub use crate::mapping::{Mapping, Group, Config};
 
 
 use std::sync::Arc;

src/mailbox.rs

@@ -100,7 +100,7 @@ impl<'b> Mailbox<'b> {
         
         - 0 is lowest priority, 3 is highest
     */
-	pub async fn read<'a>(&mut self, ty: MailboxType, priority: u2, data: &'a mut [u8]) -> &'a [u8] {
+	pub async fn read<'a>(&mut self, ty: MailboxType, _priority: u2, data: &'a mut [u8]) -> &'a [u8] {
 		let mailbox_control = registers::sync_manager::interface.mailbox_read();
         let mut allocated = [0; MAILBOX_MAX_SIZE];
 

src/mapping.rs

@@ -138,9 +138,11 @@ impl Allocator {
                     new
                 });
         }
-        // create
+        // create initial buffers
+        let mut buffer = mapping.default.borrow().clone();
+        buffer.extend((buffer.len() .. size as usize).map(|_| 0));
+        // create group
         Group {
-            master,
             allocator: self,
             allocated: slot.size,
             offset: slot.position,
@@ -150,9 +152,8 @@ impl Allocator {
             data: tokio::sync::Mutex::new(GroupData {
                 master,
                 offset: slot.position,
-                size,
-                read: vec![0; size as usize],
-                write: vec![0; size as usize],
+                read: buffer.clone(),
+                write: buffer,
             }),
         }
     }
@@ -212,10 +213,12 @@ impl fmt::Debug for Allocator {
     This can typically be though to as a group of slaves, except this only manage logical memory data without any assumption on its content. It is hence unable to perform any multi-slave exception management.
 */
 pub struct Group<'a> {
-    master: &'a RawMaster,
     allocator: &'a Allocator,
+    /// byte size of the allocated region of the logical memory
     allocated: u32,
+    /// byte offset of this data group in the logical memory
     offset: u32,
+    /// byte size of this data group in the logical memory
     size: u32,
 
     /// configuration per slave
@@ -226,8 +229,6 @@ pub struct GroupData<'a> {
     master: &'a RawMaster,
     /// byte offset of this data group in the logical memory
     offset: u32,
-    /// byte size of this data group in the logical memory
-    size: u32,
     /// data duplex: data to read from slave
     read: Vec<u8>,
     /// data duplex: data to write to slave
@@ -445,10 +446,15 @@ impl Config {
 pub struct Mapping<'a> {
     config: &'a Config,
     offset: RefCell<u32>,
+    default: RefCell<Vec<u8>>,
 }
 impl<'a> Mapping<'a> {
     pub fn new(config: &'a Config) -> Self {
-        Self { config, offset: RefCell::new(0) }
+        Self { 
+            config, 
+            offset: RefCell::new(0), 
+            default: RefCell::new(Vec::new()),
+        }
     }
     /// reference to the devices configuration actually worked on by this mapping
     pub fn config(&self) -> &'a Config {
@@ -530,6 +536,12 @@ impl<'a> MappingSlave<'a> {
         *offset += length as u32;
         inserted
     }
+    fn default<T: PduData>(&self, field: Field<T>, value: T) {
+        let mut default = self.mapping.default.borrow_mut();
+        let range = default.len() .. field.byte + field.len;
+        default.extend(range.map(|_| 0));
+        field.set(&mut default, value);
+    }
     /// increment the value offset with the reserved additional size
     /// this is typically for counting the reserved size of channels triple buffers
     fn finish(&mut self) {
@@ -624,5 +636,14 @@ impl<'a> MappingPdo<'a> {
         self.slave.additional += 2*len as u16;
         Field::new(self.slave.insert(self.direction, len, None), len)
     }
+    /** 
+        same as [Self::push] but also set an initial value for this SDO in the group buffer. 
+        This is useful when using a PDO that has more fields than the only desired ones, so we can set them a value and forget them.
+    */
+    pub fn set<T: PduData>(&mut self, sdo: Sdo<T>, initial: T) -> Field<T> {
+        let offset = self.push(sdo);
+        self.slave.default(offset, initial);
+        offset
+    }
 }
 

src/rawmaster.rs

@@ -4,10 +4,7 @@
 	It wraps an ethercat socket to schedule, send and receive ethercat frames containing data or commands.
 */
 
-use std::{
-    time::Instant,
-    sync::{Mutex, Condvar},
-    };
+use std::sync::{Mutex, Condvar};
 use core::{
     ops::DerefMut,
     time::Duration,
@@ -350,7 +347,7 @@ impl RawMaster {
 	}
 
 	/// trigger sending the buffered PDUs, they will be sent as soon as possible by [Self::send] instead of waiting for the frame to be full or for the timeout
-	fn flush(&self) {
+	pub fn flush(&self) {
         let mut state = self.pdu_state.lock().unwrap();
         state.ready = true;
         self.sendable.notify_one();