etherlabmaster: master/ethernet.c@73a5f7dd3024 (annotated)

145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* e t h e r n e t . c
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Ethernet-over-EtherCAT (EoE)
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* $Id$
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	10
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#include "../include/ecrt.h"
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	#include "globals.h"
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	#include "master.h"
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include "slave.h"
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	#include "mailbox.h"
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	#include "ethernet.h"
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	17
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	19
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	void ec_eoe_init(ec_eoe_t eoe, ec_slave_t slave)
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	{
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	eoe->slave = slave;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	eoe->rx_state = EC_EOE_IDLE;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	25
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	27
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	void ec_eoe_clear(ec_eoe_t *eoe)
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	{
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	31
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	void ec_eoe_run(ec_eoe_t *eoe)
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	{
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	uint8_t *data;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	ec_master_t *master;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	size_t rec_size;
146 73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	39	#if 0
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	40	unsigned int i;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	41	uint8_t fragment_number;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	42	uint8_t complete_size;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	43	uint8_t frame_number;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	44	uint8_t last_fragment;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	45	#endif
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	master = eoe->slave->master;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	48
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	if (eoe->rx_state == EC_EOE_IDLE) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	ec_slave_mbox_prepare_check(eoe->slave);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	ec_master_queue_command(master, &eoe->slave->mbox_command);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	eoe->rx_state = EC_EOE_CHECKING;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	return;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	55
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	if (eoe->rx_state == EC_EOE_CHECKING) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	master->stats.eoe_errors++;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	eoe->rx_state = EC_EOE_IDLE;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	return;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	if (!ec_slave_mbox_check(eoe->slave)) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	eoe->rx_state = EC_EOE_IDLE;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	return;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	ec_slave_mbox_prepare_fetch(eoe->slave);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	ec_master_queue_command(master, &eoe->slave->mbox_command);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	eoe->rx_state = EC_EOE_FETCHING;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	return;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	71
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	if (eoe->rx_state == EC_EOE_FETCHING) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	master->stats.eoe_errors++;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	eoe->rx_state = EC_EOE_IDLE;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	return;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	master->stats.eoe_errors++;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	eoe->rx_state = EC_EOE_IDLE;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	return;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	}
146 73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	83
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	84	#if 0
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	85	fragment_number = EC_READ_U16(data + 2) & 0x003F;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	86	complete_size = (EC_READ_U16(data + 2) >> 6) & 0x003F;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	87	frame_number = (EC_READ_U16(data + 2) >> 12) & 0x0003;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	88	last_fragment = (EC_READ_U16(data + 2) >> 15) & 0x0001;
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	89
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	90	EC_DBG("EOE %s received, fragment: %i, complete size: %i (0x%02X),"
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	91	" frame %i%s\n",
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	92	fragment_number ? "fragment" : "initiate", fragment_number,
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	93	(complete_size - 31) / 32, complete_size, frame_number,
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	94	last_fragment ? ", last fragment" : "");
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	95	EC_DBG("");
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	96	for (i = 0; i < rec_size - 2; i++) {
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	97	printk("%02X ", data[i + 2]);
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	98	if ((i + 1) % 16 == 0) {
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	99	printk("\n");
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	100	EC_DBG("");
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	101	}
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	102	}
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	103	printk("\n");
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	104	#endif
73a5f7dd3024 Versuche mit EoE. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	105
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	eoe->rx_state = EC_EOE_IDLE;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	return;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	110
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	void ec_eoe_print(const ec_eoe_t *eoe)
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	{
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	EC_INFO(" EoE slave %i\n", eoe->slave->ring_position);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	EC_INFO(" RX State %i\n", eoe->rx_state);
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	}
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	118
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	/*****************************************************************************/
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	/* Emacs-Konfiguration
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	;;; Local Variables: ***
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	;;; c-basic-offset:4 ***
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	;;; End: ***
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	*/

author	Florian Pose <fp@igh-essen.com>
	Mon, 03 Apr 2006 15:47:12 +0000
changeset 146	73a5f7dd3024
parent 145	11a82e4fd31b
child 195	674071846ee3
permissions	-rw-r--r--