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 "command.h"

    18

#include "master.h"

    19

    20

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

    21

    22

/**

    23

   EtherCAT-Slave-Konstruktor.

    24

*/

    25

    26

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

    27

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

    28

                   )

    29

{

    30

    slave->master = master;

    31

    slave->base_type = 0;

    32

    slave->base_revision = 0;

    33

    slave->base_build = 0;

    34

    slave->base_fmmu_count = 0;

    35

    slave->base_sync_count = 0;

    36

    slave->ring_position = 0;

    37

    slave->station_address = 0;

    38

    slave->sii_vendor_id = 0;

    39

    slave->sii_product_code = 0;

    40

    slave->sii_revision_number = 0;

    41

    slave->sii_serial_number = 0;

    42

    slave->type = NULL;

    43

    slave->registered = 0;

    44

    slave->fmmu_count = 0;

    45

}

    46

    47

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

    48

    49

/**

    50

   EtherCAT-Slave-Destruktor.

    51

*/

    52

    53

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

    54

{

    55

    // Nichts freizugeben

    56

}

    57

    58

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

    59

    60

/**

    61

   Liest alle benötigten Informationen aus einem Slave.

    62

    63

   \return 0 wenn alles ok, < 0 bei Fehler.

    64

*/

    65

    66

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

    67

{

    68

    ec_command_t command;

    69

    70

    // Read base data

    71

    ec_command_init_nprd(&command, slave->station_address, 0x0000, 6);

    72

    if (unlikely(ec_master_simple_io(slave->master, &command))) {

    73

        EC_ERR("Reading base datafrom slave %i failed!\n",

    74

               slave->ring_position);

    75

        return -1;

    76

    }

    77

    78

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

    79

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

    80

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

    81

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

    82

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

    83

    84

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

    85

        slave->base_fmmu_count = EC_MAX_FMMUS;

    86

    87

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

    88

    89

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

    90

        EC_ERR("Could not read SII vendor id!\n");

    91

        return -1;

    92

    }

    93

    94

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

    95

        EC_ERR("Could not read SII product code!\n");

    96

        return -1;

    97

    }

    98

    99

    if (unlikely(ec_slave_sii_read(slave, 0x000C,

   100

                                   &slave->sii_revision_number))) {

   101

        EC_ERR("Could not read SII revision number!\n");

   102

        return -1;

   103

    }

   104

   105

    if (unlikely(ec_slave_sii_read(slave, 0x000E,

   106

                                   &slave->sii_serial_number))) {

   107

        EC_ERR("Could not read SII serial number!\n");

   108

        return -1;

   109

    }

   110

   111

    return 0;

   112

}

   113

   114

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

   115

   116

/**

   117

   Liest Daten aus dem Slave-Information-Interface

   118

   eines EtherCAT-Slaves.

   119

   120

   \return 0 bei Erfolg, sonst < 0

   121

*/

   122

   123

int ec_slave_sii_read(ec_slave_t *slave,

   124

                      /**< EtherCAT-Slave */

   125

                      unsigned short int offset,

   126

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

   127

                      unsigned int *target

   128

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

   129

                         der Daten */

   130

                      )

   131

{

   132

    ec_command_t command;

   133

    unsigned char data[10];

   134

    cycles_t start, end, timeout;

   135

   136

    // Initiate read operation

   137

   138

    EC_WRITE_U8 (data,     0x00);

   139

    EC_WRITE_U8 (data + 1, 0x01);

   140

    EC_WRITE_U16(data + 2, offset);

   141

    EC_WRITE_U16(data + 4, 0x0000);

   142

   143

    ec_command_init_npwr(&command, slave->station_address, 0x502, 6, data);

   144

    if (unlikely(ec_master_simple_io(slave->master, &command))) {

   145

        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

   146

        return -1;

   147

    }

   148

   149

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

   150

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

   151

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

   152

   153

    start = get_cycles();

   154

    timeout = cpu_khz; // 1ms

   155

   156

    do

   157

    {

   158

        ec_command_init_nprd(&command, slave->station_address, 0x502, 10);

   159

        if (unlikely(ec_master_simple_io(slave->master, &command))) {

   160

            EC_ERR("Getting SII-read status failed on slave %i!\n",

   161

                   slave->ring_position);

   162

            return -1;

   163

        }

   164

   165

        end = get_cycles();

   166

   167

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

   168

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

   169

            break;

   170

        }

   171

    }

   172

    while (likely((end - start) < timeout));

   173

   174

    if (unlikely((end - start) >= timeout)) {

   175

        EC_ERR("SSI-read. Slave %i timed out!\n", slave->ring_position);

   176

        return -1;

   177

    }

   178

   179

    return 0;

   180

}

   181

   182

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

   183

   184

/**

   185

   Bestätigt einen Fehler beim Zustandswechsel.

   186

   187

   \todo Funktioniert noch nicht...

   188

*/

   189

   190

void ec_slave_state_ack(ec_slave_t *slave,

   191

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

   192

                        uint8_t state

   193

                        /**< Alter Zustand */

   194

                        )

   195

{

   196

    ec_command_t command;

   197

    unsigned char data[2];

   198

    cycles_t start, end, timeout;

   199

   200

    EC_WRITE_U16(data, state | EC_ACK);

   201

   202

    ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data);

   203

    if (unlikely(ec_master_simple_io(slave->master, &command))) {

   204

        EC_WARN("State %02X acknowledge failed on slave %i!\n",

   205

                state, slave->ring_position);

   206

        return;

   207

    }

   208

   209

    start = get_cycles();

   210

    timeout = cpu_khz; // 1ms

   211

   212

    do

   213

    {

   214

        ec_command_init_nprd(&command, slave->station_address, 0x0130, 2);

   215

        if (unlikely(ec_master_simple_io(slave->master, &command))) {

   216

            EC_WARN("State %02X acknowledge checking failed on slave %i!\n",

   217

                    state, slave->ring_position);

   218

            return;

   219

        }

   220

   221

        end = get_cycles();

   222

   223

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

   224

            EC_WARN("Could not acknowledge state %02X on slave %i (code"

   225

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

   226

                    EC_READ_U8(command.data));

   227

            return;

   228

        }

   229

   230

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

   231

            EC_INFO("Acknowleged state %02X on slave %i.\n", state,

   232

                    slave->ring_position);

   233

            return;

   234

        }

   235

    }

   236

    while (likely((end - start) < timeout));

   237

   238

    if (unlikely((end - start) >= timeout)) {

   239

        EC_WARN("Could not check state acknowledgement %02X of slave %i -"

   240

                " Timeout while checking!\n", state, slave->ring_position);

   241

        return;

   242

    }

   243

}

   244

   245

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

   246

   247

/**

   248

   Ändert den Zustand eines Slaves.

   249

   250

   \return 0 bei Erfolg, sonst < 0

   251

*/

   252

   253

int ec_slave_state_change(ec_slave_t *slave,

   254

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

   255

                          uint8_t state

   256

                          /**< Neuer Zustand */

   257

                          )

   258

{

   259

    ec_command_t command;

   260

    unsigned char data[2];

   261

    cycles_t start, end, timeout;

   262

   263

    EC_WRITE_U16(data, state);

   264

   265

    ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data);

   266

    if (unlikely(ec_master_simple_io(slave->master, &command))) {

   267

        EC_ERR("Failed to set state %02X on slave %i!\n",

   268

               state, slave->ring_position);

   269

        return -1;

   270

    }

   271

   272

    start = get_cycles();

   273

    timeout = cpu_khz; // 1ms

   274

   275

    do

   276

    {

   277

        udelay(100); // Dem Slave etwas Zeit lassen...

   278

   279

        ec_command_init_nprd(&command, slave->station_address, 0x0130, 2);

   280

        if (unlikely(ec_master_simple_io(slave->master, &command))) {

   281

            EC_ERR("Failed to check state %02X on slave %i!\n",

   282

                   state, slave->ring_position);

   283

            return -1;

   284

        }

   285

   286

        end = get_cycles();

   287

   288

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

   289

            EC_ERR("Could not set state %02X - Slave %i refused state change"

   290

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

   291

                   EC_READ_U8(command.data));

   292

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

   293

            return -1;

   294

        }

   295

   296

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

   297

            // State change successful

   298

            break;

   299

        }

   300

    }

   301

    while (likely((end - start) < timeout));

   302

   303

    if (unlikely((end - start) >= timeout)) {

   304

        EC_ERR("Could not check state %02X of slave %i - Timeout!\n", state,

   305

               slave->ring_position);

   306

        return -1;

   307

    }

   308

   309

    return 0;

   310

}

   311

   312

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

   313

   314

/**

   315

   Merkt eine FMMU-Konfiguration vor.

   316

   317

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

   318

   entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate

   319

   FMMUs konfiguriert.

   320

   321

   Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als

   322

   Erfolg zurückgegeben.

   323

   324

   \return 0 bei Erfolg, sonst < 0

   325

*/

   326

   327

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

   328

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

   329

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

   330

                      )

   331

{

   332

    unsigned int i;

   333

   334

    // FMMU schon vorgemerkt?

   335

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

   336

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

   337

            return 0;

   338

   339

    // Neue FMMU reservieren...

   340

   341

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

   342

        EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);

   343

        return -1;

   344

    }

   345

   346

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

   347

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

   348

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

   349

    slave->fmmu_count++;

   350

    slave->registered = 1;

   351

   352

    return 0;

   353

}

   354

   355

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

   356

   357

/**

   358

   Gibt alle Informationen über einen EtherCAT-Slave aus.

   359

*/

   360

   361

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

   362

{

   363

    EC_INFO("--- EtherCAT slave information ---\n");

   364

   365

    if (slave->type) {

   366

        EC_INFO("  Vendor \"%s\", Product \"%s\": %s\n",

   367

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

   368

                slave->type->description);

   369

    }

   370

    else {

   371

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

   372

    }

   373

   374

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

   375

            slave->ring_position, slave->station_address);

   376

   377

    EC_INFO("  Base information:\n");

   378

    EC_INFO("    Type %u, Revision %i, Build %i\n",

   379

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

   380

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

   381

            slave->base_fmmu_count, slave->base_sync_count);

   382

   383

    EC_INFO("  Slave information interface:\n");

   384

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

   385

            slave->sii_vendor_id, slave->sii_product_code);

   386

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

   387

            slave->sii_revision_number, slave->sii_serial_number);

   388

}

   389

   390

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

   391

   392

/**

   393

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

   394

   395

   \return 0 bei Erfolg, sonst < 0

   396

*/

   397

   398

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

   399

{

   400

    ec_command_t command;

   401

    uint8_t data[4];

   402

   403

    ec_command_init_nprd(&command, slave->station_address, 0x0300, 4);

   404

    if (unlikely(ec_master_simple_io(slave->master, &command))) {

   405

        EC_WARN("Reading CRC fault counters failed on slave %i!\n",

   406

                slave->ring_position);

   407

        return -1;

   408

    }

   409

   410

    // No CRC faults.

   411

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

   412

   413

    EC_WARN("CRC faults on slave %i. A: %i, B: %i\n", slave->ring_position,

   414

            EC_READ_U16(command.data), EC_READ_U16(command.data + 2));

   415

   416

    // Reset CRC counters

   417

    EC_WRITE_U16(data,     0x0000);

   418

    EC_WRITE_U16(data + 2, 0x0000);

   419

    ec_command_init_npwr(&command, slave->station_address, 0x0300, 4, data);

   420

    if (unlikely(ec_master_simple_io(slave->master, &command))) {

   421

        EC_WARN("Resetting CRC fault counters failed on slave %i!\n",

   422

                slave->ring_position);

   423

        return -1;

   424

    }

   425

   426

    return 0;

   427

}

   428

   429

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

   430

   431

/* Emacs-Konfiguration

   432

;;; Local Variables: ***

   433

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

   434

;;; End: ***

   435

*/