1

/******************************************************************************

     2

 *

     3

 *  s l a v e . c

     4

 *

     5

 *  Methoden für einen EtherCAT-Slave.

     6

 *

     7

 *  $Id$

     8

 *

     9

 *****************************************************************************/

    10

    11

#include <linux/module.h>

    12

#include <linux/delay.h>

    13

    14

#include "../include/EtherCAT_si.h"

    15

#include "globals.h"

    16

#include "slave.h"

    17

#include "frame.h"

    18

    19

/*****************************************************************************/

    20

    21

/**

    22

   EtherCAT-Slave-Konstruktor.

    23

*/

    24

    25

void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */

    26

                   ec_master_t *master /**< EtherCAT-Master */

    27

                   )

    28

{

    29

    slave->master = master;

    30

    slave->base_type = 0;

    31

    slave->base_revision = 0;

    32

    slave->base_build = 0;

    33

    slave->base_fmmu_count = 0;

    34

    slave->base_sync_count = 0;

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    slave->ring_position = 0;

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    slave->station_address = 0;

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    slave->sii_vendor_id = 0;

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    slave->sii_product_code = 0;

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    slave->sii_revision_number = 0;

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    slave->sii_serial_number = 0;

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    slave->type = NULL;

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    slave->registered = 0;

    43

    slave->fmmu_count = 0;

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}

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    46

/*****************************************************************************/

    47

    48

/**

    49

   EtherCAT-Slave-Destruktor.

    50

*/

    51

    52

void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)

    53

{

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    // Nichts freizugeben

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}

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    57

/*****************************************************************************/

    58

    59

/**

    60

   Liest alle benötigten Informationen aus einem Slave.

    61

*/

    62

    63

int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)

    64

{

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    ec_frame_t frame;

    66

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    // Read base data

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    ec_frame_init_nprd(&frame, slave->master, slave->station_address,

    69

                       0x0000, 6);

    70

    71

    if (unlikely(ec_frame_send_receive(&frame))) return -1;

    72

    73

    if (unlikely(frame.working_counter != 1)) {

    74

        printk(KERN_ERR "EtherCAT: Slave %i did not respond while reading base"

    75

               " data!\n", slave->ring_position);

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        return -1;

    77

    }

    78

    79

    slave->base_type =       EC_READ_U8 (frame.data);

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    slave->base_revision =   EC_READ_U8 (frame.data + 1);

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    slave->base_build =      EC_READ_U16(frame.data + 2);

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    slave->base_fmmu_count = EC_READ_U8 (frame.data + 4);

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    slave->base_sync_count = EC_READ_U8 (frame.data + 5);

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    85

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

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        slave->base_fmmu_count = EC_MAX_FMMUS;

    87

    88

    // Read identification from "Slave Information Interface" (SII)

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    90

    if (unlikely(ec_slave_sii_read(slave, 0x0008, &slave->sii_vendor_id))) {

    91

        printk(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");

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        return -1;

    93

    }

    94

    95

    if (unlikely(ec_slave_sii_read(slave, 0x000A, &slave->sii_product_code))) {

    96

        printk(KERN_ERR "EtherCAT: Could not read SII product code!\n");

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        return -1;

    98

    }

    99

   100

    if (unlikely(ec_slave_sii_read(slave, 0x000C,

   101

                                   &slave->sii_revision_number))) {

   102

        printk(KERN_ERR "EtherCAT: Could not read SII revision number!\n");

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        return -1;

   104

    }

   105

   106

    if (unlikely(ec_slave_sii_read(slave, 0x000E,

   107

                                   &slave->sii_serial_number))) {

   108

        printk(KERN_ERR "EtherCAT: Could not read SII serial number!\n");

   109

        return -1;

   110

    }

   111

   112

    return 0;

   113

}

   114

   115

/*****************************************************************************/

   116

   117

/**

   118

   Liest Daten aus dem Slave-Information-Interface

   119

   eines EtherCAT-Slaves.

   120

   121

   \return 0 bei Erfolg, sonst < 0

   122

*/

   123

   124

int ec_slave_sii_read(ec_slave_t *slave,

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                      /**< EtherCAT-Slave */

   126

                      unsigned short int offset,

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                      /**< Adresse des zu lesenden SII-Registers */

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                      unsigned int *target

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                      /**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen

   130

                         der Daten */

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                      )

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{

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    ec_frame_t frame;

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    unsigned char data[10];

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    unsigned int tries_left;

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   137

    // Initiate read operation

   138

   139

    EC_WRITE_U8 (data,     0x00);

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    EC_WRITE_U8 (data + 1, 0x01);

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    EC_WRITE_U16(data + 2, offset);

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    EC_WRITE_U16(data + 4, 0x0000);

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    ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x502, 6,

   145

                       data);

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   147

    if (unlikely(ec_frame_send_receive(&frame))) return -1;

   148

   149

    if (unlikely(frame.working_counter != 1)) {

   150

        printk(KERN_ERR "EtherCAT: SII-read - Slave %i did not respond!\n",

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               slave->ring_position);

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        return -1;

   153

    }

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    // Der Slave legt die Informationen des Slave-Information-Interface

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    // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange

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    // den Status auslesen, bis das Bit weg ist.

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   159

    tries_left = 100;

   160

    while (likely(tries_left))

   161

    {

   162

        udelay(10);

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        ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x502,

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                           10);

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   167

        if (unlikely(ec_frame_send_receive(&frame))) return -1;

   168

   169

        if (unlikely(frame.working_counter != 1)) {

   170

            printk(KERN_ERR "EtherCAT: SII-read status -"

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                   " Slave %i did not respond!\n", slave->ring_position);

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            return -1;

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        }

   174

   175

        if (likely((EC_READ_U8(frame.data + 1) & 0x81) == 0)) {

   176

            memcpy(target, frame.data + 6, 4);

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            break;

   178

        }

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        tries_left--;

   181

    }

   182

   183

    if (unlikely(!tries_left)) {

   184

        printk(KERN_WARNING "EtherCAT: SSI-read. Slave %i timed out!\n",

   185

               slave->ring_position);

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        return -1;

   187

    }

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   189

    return 0;

   190

}

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   192

/*****************************************************************************/

   193

   194

/**

   195

   Bestätigt einen Fehler beim Zustandswechsel.

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   197

   FIXME Funktioniert noch nicht...

   198

*/

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   200

void ec_slave_state_ack(ec_slave_t *slave,

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                        /**< Slave, dessen Zustand geändert werden soll */

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                        uint8_t state

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                        /**< Alter Zustand */

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                        )

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{

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    ec_frame_t frame;

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    unsigned char data[2];

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    unsigned int tries_left;

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    EC_WRITE_U16(data, state | EC_ACK);

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    ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,

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                       2, data);

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   215

    if (unlikely(ec_frame_send_receive(&frame) != 0)) {

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        printk(KERN_ERR "EtherCAT: Could no acknowledge state %02X - Unable to"

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               " send!\n", state);

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        return;

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    }

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   221

    if (unlikely(frame.working_counter != 1)) {

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        printk(KERN_ERR "EtherCAT: Could not acknowledge state %02X - Slave"

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               " %i did not respond!\n", state, slave->ring_position);

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        return;

   225

    }

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   227

    tries_left = 100;

   228

    while (likely(tries_left))

   229

    {

   230

        udelay(10);

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        ec_frame_init_nprd(&frame, slave->master, slave->station_address,

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                           0x0130, 2);

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   235

        if (unlikely(ec_frame_send_receive(&frame) != 0)) {

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            printk(KERN_ERR "EtherCAT: Could not check state acknowledgement"

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                   " %02X - Unable to send!\n", state);

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            return;

   239

        }

   240

   241

        if (unlikely(frame.working_counter != 1)) {

   242

            printk(KERN_ERR "EtherCAT: Could not check state acknowledgement"

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                   " %02X - Slave %i did not respond!\n", state,

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                   slave->ring_position);

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            return;

   246

        }

   247

   248

        if (unlikely(EC_READ_U8(frame.data) != state)) {

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            printk(KERN_ERR "EtherCAT: Could not acknowledge state %02X on"

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                   " slave %i (code %02X)!\n", state, slave->ring_position,

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                   EC_READ_U8(frame.data));

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            return;

   253

        }

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   255

        if (likely(EC_READ_U8(frame.data) == state)) {

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            printk(KERN_INFO "EtherCAT: Acknowleged state %02X on slave %i.\n",

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                   state, slave->ring_position);

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            return;

   259

        }

   260

   261

        tries_left--;

   262

    }

   263

   264

    if (unlikely(!tries_left)) {

   265

        printk(KERN_ERR "EtherCAT: Could not check state acknowledgement %02X"

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               " of slave %i - Timeout while checking!\n", state,

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               slave->ring_position);

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        return;

   269

    }

   270

}

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   272

/*****************************************************************************/

   273

   274

/**

   275

   Ändert den Zustand eines Slaves.

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   277

   \return 0 bei Erfolg, sonst < 0

   278

*/

   279

   280

int ec_slave_state_change(ec_slave_t *slave,

   281

                          /**< Slave, dessen Zustand geändert werden soll */

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                          uint8_t state

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                          /**< Neuer Zustand */

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                          )

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{

   286

    ec_frame_t frame;

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    unsigned char data[2];

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    unsigned int tries_left;

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   290

    EC_WRITE_U16(data, state);

   291

   292

    ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,

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                       2, data);

   294

   295

    if (unlikely(ec_frame_send_receive(&frame) != 0)) {

   296

        printk(KERN_ERR "EtherCAT: Could not set state %02X - Unable to"

   297

               " send!\n", state);

   298

        return -1;

   299

    }

   300

   301

    if (unlikely(frame.working_counter != 1)) {

   302

        printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i did not"

   303

               " respond!\n", state, slave->ring_position);

   304

        return -1;

   305

    }

   306

   307

    tries_left = 100;

   308

    while (likely(tries_left))

   309

    {

   310

        udelay(10);

   311

   312

        ec_frame_init_nprd(&frame, slave->master, slave->station_address,

   313

                           0x0130, 2);

   314

   315

        if (unlikely(ec_frame_send_receive(&frame) != 0)) {

   316

            printk(KERN_ERR "EtherCAT: Could not check state %02X - Unable to"

   317

                   " send!\n", state);

   318

            return -1;

   319

        }

   320

   321

        if (unlikely(frame.working_counter != 1)) {

   322

            printk(KERN_ERR "EtherCAT: Could not check state %02X - Slave %i"

   323

                   " did not respond!\n", state, slave->ring_position);

   324

            return -1;

   325

        }

   326

   327

        if (unlikely(EC_READ_U8(frame.data) & 0x10)) { // State change error

   328

            printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i"

   329

                   " refused state change (code %02X)!\n", state,

   330

                   slave->ring_position, EC_READ_U8(frame.data));

   331

            ec_slave_state_ack(slave, EC_READ_U8(frame.data) & 0x0F);

   332

            return -1;

   333

        }

   334

   335

        if (likely(EC_READ_U8(frame.data) == (state & 0x0F))) {

   336

            // State change successful

   337

            break;

   338

        }

   339

   340

        tries_left--;

   341

    }

   342

   343

    if (unlikely(!tries_left)) {

   344

        printk(KERN_ERR "EtherCAT: Could not check state %02X of slave %i -"

   345

               " Timeout while checking!\n", state,

   346

               slave->ring_position);

   347

        return -1;

   348

    }

   349

   350

    return 0;

   351

}

   352

   353

/*****************************************************************************/

   354

   355

/**

   356

   Merkt eine FMMU-Konfiguration vor.

   357

   358

   Die FMMU wird so konfiguriert, dass sie den gesamten Datenbereich des

   359

   entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate

   360

   FMMUs konfiguriert.

   361

   362

   Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als

   363

   Erfolg zurückgegeben.

   364

   365

   \return 0 bei Erfolg, sonst < 0

   366

*/

   367

   368

int ec_slave_set_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */

   369

                      const ec_domain_t *domain, /**< Domäne */

   370

                      const ec_sync_t *sync  /**< Sync-Manager */

   371

                      )

   372

{

   373

    unsigned int i;

   374

   375

    // FMMU schon vorgemerkt?

   376

    for (i = 0; i < slave->fmmu_count; i++)

   377

        if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)

   378

            return 0;

   379

   380

    if (slave->fmmu_count >= slave->base_fmmu_count) {

   381

        printk(KERN_ERR "EtherCAT: Slave %i supports only %i FMMUs.\n",

   382

               slave->ring_position, slave->base_fmmu_count);

   383

        return -1;

   384

    }

   385

   386

    slave->fmmus[slave->fmmu_count].domain = domain;

   387

    slave->fmmus[slave->fmmu_count].sync = sync;

   388

    slave->fmmus[slave->fmmu_count].logical_start_address = 0;

   389

    slave->fmmu_count++;

   390

    slave->registered = 1;

   391

   392

    return 0;

   393

}

   394

   395

/*****************************************************************************/

   396

   397

/**

   398

   Gibt alle Informationen über einen EtherCAT-Slave aus.

   399

*/

   400

   401

void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)

   402

{

   403

    printk(KERN_INFO "--- EtherCAT slave information ---\n");

   404

   405

    if (slave->type) {

   406

        printk(KERN_INFO "  Vendor \"%s\", Product \"%s\": %s\n",

   407

               slave->type->vendor_name, slave->type->product_name,

   408

               slave->type->description);

   409

    }

   410

    else {

   411

        printk(KERN_INFO "  *** This slave has no type information! ***\n");

   412

    }

   413

   414

    printk(KERN_INFO "  Ring position: %i, Station address: 0x%04X\n",

   415

           slave->ring_position, slave->station_address);

   416

   417

    printk(KERN_INFO "  Base information:\n");

   418

    printk(KERN_INFO "    Type %u, Revision %i, Build %i\n",

   419

           slave->base_type, slave->base_revision, slave->base_build);

   420

    printk(KERN_INFO "    Supported FMMUs: %i, Sync managers: %i\n",

   421

           slave->base_fmmu_count, slave->base_sync_count);

   422

   423

    printk(KERN_INFO "  Slave information interface:\n");

   424

    printk(KERN_INFO "    Vendor-ID: 0x%08X, Product code: 0x%08X\n",

   425

           slave->sii_vendor_id, slave->sii_product_code);

   426

    printk(KERN_INFO "    Revision number: 0x%08X, Serial number: 0x%08X\n",

   427

           slave->sii_revision_number, slave->sii_serial_number);

   428

}

   429

   430

/*****************************************************************************/

   431

   432

/**

   433

   Gibt die Zählerstände der CRC-Fault-Counter aus und setzt diese zurück.

   434

   435

   \return 0 bei Erfolg, sonst < 0

   436

*/

   437

   438

int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)

   439

{

   440

    ec_frame_t frame;

   441

    uint8_t data[4];

   442

   443

    ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x0300,

   444

                       4);

   445

   446

    if (unlikely(ec_frame_send_receive(&frame))) {

   447

        printk(KERN_WARNING "EtherCAT: Reading CRC fault counters failed"

   448

               " on slave %i - Could not send command!\n",

   449

               slave->ring_position);

   450

        return -1;

   451

    }

   452

   453

    if (unlikely(frame.working_counter != 1)) {

   454

        printk(KERN_WARNING "EtherCAT: Reading CRC fault counters -"

   455

               " Slave %i did not respond!\n", slave->ring_position);

   456

        return -1;

   457

    }

   458

   459

    // No CRC faults.

   460

    if (!EC_READ_U16(frame.data) && !EC_READ_U16(frame.data + 2)) return 0;

   461

   462

    printk(KERN_INFO "EtherCAT: CRC faults on slave %i. A: %i, B: %i\n",

   463

           slave->ring_position, EC_READ_U16(frame.data),

   464

           EC_READ_U16(frame.data + 2));

   465

   466

    // Reset CRC counters

   467

    EC_WRITE_U16(data,     0x0000);

   468

    EC_WRITE_U16(data + 2, 0x0000);

   469

    ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0300,

   470

                       4, data);

   471

   472

    if (unlikely(ec_frame_send_receive(&frame))) return -1;

   473

   474

    if (unlikely(frame.working_counter != 1)) {

   475

        printk(KERN_ERR "EtherCAT: Resetting CRC fault counters - Slave"

   476

               " %i did not respond!\n", slave->ring_position);

   477

        return -1;

   478

    }

   479

   480

    return 0;

   481

}

   482

   483

/*****************************************************************************/

   484

   485

/* Emacs-Konfiguration

   486

;;; Local Variables: ***

   487

;;; c-basic-offset:4 ***

   488

;;; End: ***

   489

*/