| author | Florian Pose <fp@igh-essen.com> |
| Fri, 28 Oct 2005 15:12:27 +0000 | |
| changeset 2 | b0a7a4745bf9 |
| parent 0 | 05c992bf5847 |
| child 5 | 6f2508af550c |
| permissions | -rw-r--r-- |
| 0 | 1 |
/**************************************************************** |
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* |
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* e c _ m a s t e r . c |
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* |
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* Methoden für einen EtherCAT-Master. |
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* |
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* $Date$ |
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* $Author$ |
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* |
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***************************************************************/ |
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#include <linux/kernel.h> |
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#include <linux/string.h> |
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#include <linux/slab.h> |
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#include <linux/delay.h> |
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#include "ec_globals.h" |
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#include "ec_master.h" |
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#include "ec_dbg.h" |
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// FIXME: Klappt nur solange, wie es nur einen Master gibt! fp |
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static int ASYNC = 0; |
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/***************************************************************/ |
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/** |
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Konstruktor des EtherCAT-Masters. |
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@param master Zeiger auf den zu initialisierenden |
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EtherCAT-Master |
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@param dev Zeiger auf das EtherCAT-gerät, mit dem der |
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Master arbeiten soll |
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@return 0 bei Erfolg, sonst < 0 (= dev ist NULL) |
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*/ |
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int EtherCAT_master_init(EtherCAT_master_t *master, |
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EtherCAT_device_t *dev) |
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{
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unsigned int i; |
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if (!dev) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Master init without device!\n"); |
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return -1; |
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} |
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master->slaves = NULL; |
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master->slave_count = 0; |
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master->first_command = NULL; |
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master->process_data_command = NULL; |
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master->dev = dev; |
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master->command_index = 0x00; |
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master->tx_data_length = 0; |
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master->process_data = NULL; |
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master->process_data_length = 0; |
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master->cmd_ring_index = 0; |
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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master->debug_level = 0; |
| 0 | 59 |
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for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++) |
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{
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EtherCAT_command_init(&master->cmd_ring[i]); |
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2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
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master->cmd_reserved[i] = 0; |
| 0 | 64 |
} |
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return 0; |
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} |
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/***************************************************************/ |
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/** |
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Destruktor eines EtherCAT-Masters. |
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Entfernt alle Kommandos aus der Liste, löscht den Zeiger |
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auf das Slave-Array und gibt die Prozessdaten frei. |
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@param master Zeiger auf den zu löschenden Master |
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*/ |
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void EtherCAT_master_clear(EtherCAT_master_t *master) |
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{
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// Remove all pending commands |
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while (master->first_command) |
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{
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EtherCAT_remove_command(master, master->first_command); |
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} |
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// Remove all slaves |
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EtherCAT_clear_slaves(master); |
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if (master->process_data) |
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{
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kfree(master->process_data); |
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master->process_data = NULL; |
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} |
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master->process_data_length = 0; |
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} |
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/***************************************************************/ |
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/** |
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Überprüft die angeschlossenen Slaves. |
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Vergleicht die an den Bus angeschlossenen Slaves mit |
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den im statischen-Slave-Array vorgegebenen Konfigurationen. |
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Stimmen Anzahl oder Typen nicht überein, gibt diese |
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Methode einen Fehler aus. |
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@param master Der EtherCAT-Master |
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@param slaves Zeiger auf ein statisches Slave-Array |
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@param slave_count Anzahl der Slaves im Array |
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@return 0 bei Erfolg, sonst < 0 |
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*/ |
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int EtherCAT_check_slaves(EtherCAT_master_t *master, |
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EtherCAT_slave_t *slaves, |
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unsigned int slave_count) |
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{
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EtherCAT_command_t *cmd; |
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EtherCAT_slave_t *cur; |
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unsigned int i, j, found, length, pos; |
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unsigned char data[2]; |
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// EtherCAT_clear_slaves() must be called before! |
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if (master->slaves || master->slave_count) |
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{
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EC_DBG(KERN_ERR "EtherCAT duplicate slave check!"); |
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return -1; |
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} |
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// No slaves. |
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if (slave_count == 0) |
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{
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EC_DBG(KERN_ERR "EtherCAT: No slaves in list!"); |
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return -1; |
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} |
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// Determine number of slaves on bus |
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if ((cmd = EtherCAT_broadcast_read(master, 0x0000, 4)) == NULL) |
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{
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return -1; |
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} |
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if (EtherCAT_async_send_receive(master) != 0) |
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{
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return -1; |
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} |
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if (cmd->working_counter != slave_count) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n", |
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cmd->working_counter, slave_count); |
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EtherCAT_remove_command(master, cmd); |
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return -1; |
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} |
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else |
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{
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EC_DBG("EtherCAT: Slave count on bus: %i. Found: %i.\n",
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cmd->working_counter, slave_count); |
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} |
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EtherCAT_remove_command(master, cmd); |
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// For every slave in the list |
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for (i = 0; i < slave_count; i++) |
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{
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cur = &slaves[i]; |
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if (!cur->desc) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Slave %i has no description.\n", i); |
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return -1; |
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} |
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// Set ring position |
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cur->ring_position = -i; |
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cur->station_address = i + 1; |
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// Write station address |
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data[0] = cur->station_address & 0x00FF; |
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data[1] = (cur->station_address & 0xFF00) >> 8; |
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if ((cmd = EtherCAT_position_write(master, cur->ring_position, 0x0010, 2, data)) == NULL) |
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{
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return -1; |
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} |
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if (EtherCAT_async_send_receive(master) != 0) |
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{
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return -1; |
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} |
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if (cmd->working_counter != 1) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i); |
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return -1; |
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} |
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EtherCAT_remove_command(master, cmd); |
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// Read base data |
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if ((cmd = EtherCAT_read(master, cur->station_address, 0x0000, 4)) == NULL) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not create command!\n"); |
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return -1; |
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} |
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if (EtherCAT_async_send_receive(master) != 0) |
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{
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EtherCAT_remove_command(master, cmd); |
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EC_DBG(KERN_ERR "EtherCAT: Could not send command!\n"); |
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return -1; |
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} |
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if (cmd->working_counter != 1) |
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{
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EtherCAT_remove_command(master, cmd); |
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EC_DBG(KERN_ERR "EtherCAT: Slave %i did not respond while reading base data!\n", i); |
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return -1; |
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} |
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// Get base data |
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cur->type = cmd->data[0]; |
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cur->revision = cmd->data[1]; |
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cur->build = cmd->data[2] | (cmd->data[3] << 8); |
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EtherCAT_remove_command(master, cmd); |
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// Read identification from "Slave Information Interface" (SII) |
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if (EtherCAT_read_slave_information(master, cur->station_address, |
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0x0008, &cur->vendor_id) != 0) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n"); |
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return -1; |
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} |
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if (EtherCAT_read_slave_information(master, cur->station_address, |
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0x000A, &cur->product_code) != 0) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n"); |
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return -1; |
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} |
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if (EtherCAT_read_slave_information(master, cur->station_address, |
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0x000E, &cur->revision_number) != 0) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n"); |
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return -1; |
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} |
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// Search for identification in "database" |
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found = 0; |
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for (j = 0; j < slave_idents_count; j++) |
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{
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if (slave_idents[j].vendor_id == cur->vendor_id |
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&& slave_idents[j].product_code == cur->product_code) |
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{
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found = 1; |
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if (cur->desc != slave_idents[j].desc) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Unexpected slave device \"%s %s\"" |
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" at position %i. Expected: \"%s %s\"\n", |
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slave_idents[j].desc->vendor_name, |
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slave_idents[j].desc->product_name, i, |
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cur->desc->vendor_name, cur->desc->product_name); |
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return -1; |
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} |
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break; |
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} |
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} |
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if (!found) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at position %i.\n", |
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i, cur->vendor_id, cur->product_code); |
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return -1; |
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} |
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} |
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length = 0; |
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for (i = 0; i < slave_count; i++) |
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{
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length += slaves[i].desc->data_length; |
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} |
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if ((master->process_data = (unsigned char *) |
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kmalloc(sizeof(unsigned char) * length, GFP_KERNEL)) == NULL) |
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{
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EC_DBG(KERN_ERR "EtherCAT: Could not allocate %i bytes for process data.\n", length); |
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return -1; |
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} |
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master->process_data_length = length; |
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memset(master->process_data, 0x00, length); |
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pos = 0; |
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for (i = 0; i < slave_count; i++) |
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{
|
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slaves[i].process_data = master->process_data + pos; |
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slaves[i].logical_address0 = pos; |
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EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - \"%s %s\" - Logical Address 0x%08X\n", |
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i, slaves[i].desc->vendor_name, slaves[i].desc->product_name, pos); |
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pos += slaves[i].desc->data_length; |
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} |
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master->slaves = slaves; |
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master->slave_count = slave_count; |
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return 0; |
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} |
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||
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/***************************************************************/ |
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||
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/** |
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Entfernt den Zeiger auf das Slave-Array. |
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@param master EtherCAT-Master |
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*/ |
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void EtherCAT_clear_slaves(EtherCAT_master_t *master) |
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{
|
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master->slaves = NULL; |
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master->slave_count = 0; |
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} |
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/***************************************************************/ |
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/** |
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Liest Daten aus dem Slave-Information-Interface |
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eines EtherCAT-Slaves. |
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@param master EtherCAT-Master |
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@param node_address Knotenadresse des Slaves |
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@param offset Adresse des zu lesenden SII-Registers |
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@param target Zeiger auf einen 4 Byte großen Speicher |
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zum Ablegen der Daten |
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@return 0 bei Erfolg, sonst < 0 |
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*/ |
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int EtherCAT_read_slave_information(EtherCAT_master_t *master, |
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unsigned short int node_address, |
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unsigned short int offset, |
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unsigned int *target) |
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{
|
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EtherCAT_command_t *cmd; |
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unsigned char data[10]; |
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unsigned int tries_left; |
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// Initiate read operation |
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data[0] = 0x00; |
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data[1] = 0x01; |
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data[2] = offset & 0xFF; |
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data[3] = (offset & 0xFF00) >> 8; |
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data[4] = 0x00; |
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data[5] = 0x00; |
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if ((cmd = EtherCAT_write(master, node_address, 0x502, 6, data)) == NULL) |
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return -2; |
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if (EtherCAT_async_send_receive(master) != 0) |
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{
|
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EtherCAT_remove_command(master, cmd); |
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return -3; |
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} |
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||
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if (cmd->working_counter != 1) |
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{
|
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EtherCAT_remove_command(master, cmd); |
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EC_DBG(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n", |
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node_address); |
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return -4; |
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} |
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390 |
||
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EtherCAT_remove_command(master, cmd); |
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392 |
||
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// Get status of read operation |
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394 |
||
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// ?? FIXME warum hier tries ?? Hm |
|
396 |
||
397 |
// Der Slave legt die Informationen des Slave-Information-Interface |
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398 |
// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange |
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399 |
// den Status auslesen, bis das Bit weg ist. fp |
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400 |
||
401 |
tries_left = 1000; |
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while (tries_left) |
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403 |
{
|
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udelay(10); |
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405 |
||
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if ((cmd = EtherCAT_read(master, node_address, 0x502, 10)) == NULL) |
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return -2; |
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408 |
||
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if (EtherCAT_async_send_receive(master) != 0) |
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{
|
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EtherCAT_remove_command(master, cmd); |
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412 |
return -3; |
|
413 |
} |
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414 |
||
415 |
if (cmd->working_counter != 1) |
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{
|
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EtherCAT_remove_command(master, cmd); |
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EC_DBG(KERN_ERR "EtherCAT: SII-read status - Slave %04X did not respond!\n", |
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node_address); |
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420 |
return -4; |
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421 |
} |
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422 |
||
423 |
if ((cmd->data[1] & 0x81) == 0) |
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424 |
{
|
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memcpy(target, cmd->data + 6, 4); |
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426 |
EtherCAT_remove_command(master, cmd); |
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427 |
break; |
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428 |
} |
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429 |
||
430 |
EtherCAT_remove_command(master, cmd); |
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431 |
||
432 |
tries_left--; |
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433 |
} |
|
434 |
||
435 |
if (!tries_left) |
|
436 |
{
|
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437 |
EC_DBG(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n", |
|
438 |
node_address); |
|
439 |
return -1; |
|
440 |
} |
|
441 |
||
442 |
return 0; |
|
443 |
} |
|
444 |
||
445 |
/***************************************************************/ |
|
446 |
||
447 |
/** |
|
448 |
Führt ein asynchrones Senden und Empfangen aus. |
|
449 |
||
450 |
Sendet alle wartenden Kommandos und wartet auf die |
|
451 |
entsprechenden Antworten. |
|
452 |
||
453 |
@param master EtherCAT-Master |
|
454 |
||
455 |
@return 0 bei Erfolg, sonst < 0 |
|
456 |
*/ |
|
457 |
||
458 |
int EtherCAT_async_send_receive(EtherCAT_master_t *master) |
|
459 |
{
|
|
460 |
unsigned int wait_cycles; |
|
461 |
int i; |
|
462 |
||
463 |
// Send all commands |
|
464 |
||
465 |
for (i = 0; i < ECAT_NUM_RETRIES; i++) |
|
466 |
{
|
|
467 |
ASYNC = 1; |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
468 |
if (EtherCAT_send(master) < 0) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
469 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
470 |
return -1; |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
471 |
} |
| 0 | 472 |
ASYNC = 0; |
473 |
||
474 |
// Wait until something is received or an error has occurred |
|
475 |
wait_cycles = 10; |
|
476 |
while (master->dev->state == ECAT_DS_SENT && wait_cycles) |
|
477 |
{
|
|
478 |
udelay(1000); |
|
479 |
wait_cycles--; |
|
480 |
} |
|
481 |
||
482 |
//EC_DBG("Master async send: tries %d",tries_left);
|
|
483 |
||
484 |
if (!wait_cycles) |
|
485 |
{
|
|
486 |
EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n"); |
|
487 |
continue; |
|
488 |
} |
|
489 |
||
490 |
if (master->dev->state != ECAT_DS_RECEIVED) |
|
491 |
{
|
|
492 |
EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state); |
|
493 |
continue; |
|
494 |
} |
|
495 |
||
496 |
// Receive all commands |
|
497 |
if (EtherCAT_receive(master) < 0) |
|
498 |
{
|
|
499 |
// Noch mal versuchen |
|
500 |
master->dev->state = ECAT_DS_READY; |
|
501 |
EC_DBG("Retry Asynchronous send/recieve: %d", i);
|
|
502 |
continue; |
|
503 |
} |
|
504 |
||
505 |
return 0; // Erfolgreich |
|
506 |
} |
|
507 |
||
508 |
return -1; |
|
509 |
} |
|
510 |
||
511 |
/***************************************************************/ |
|
512 |
||
513 |
/** |
|
514 |
Sendet alle wartenden Kommandos. |
|
515 |
||
516 |
Errechnet erst die benötigte Gesamt-Rahmenlänge, und erstellt |
|
517 |
dann alle Kommando-Bytefolgen im statischen Sendespeicher. |
|
518 |
Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen. |
|
519 |
||
520 |
@param master EtherCAT-Master |
|
521 |
||
522 |
@return 0 bei Erfolg, sonst < 0 |
|
523 |
*/ |
|
524 |
||
525 |
int EtherCAT_send(EtherCAT_master_t *master) |
|
526 |
{
|
|
527 |
unsigned int i, length, framelength, pos; |
|
528 |
EtherCAT_command_t *cmd; |
|
529 |
int cmdcnt = 0; |
|
530 |
||
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
531 |
if (master->debug_level > 0) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
532 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
533 |
EC_DBG(KERN_DEBUG "EtherCAT_send, first_command = %X\n", (int) master->first_command); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
534 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
535 |
|
| 0 | 536 |
length = 0; |
537 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
538 |
{
|
|
539 |
if (cmd->state != ECAT_CS_READY) continue; |
|
540 |
length += cmd->data_length + 12; |
|
541 |
cmdcnt++; |
|
542 |
} |
|
543 |
||
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
544 |
if (master->debug_level > 0) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
545 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
546 |
EC_DBG(KERN_DEBUG "%i commands to send.\n", cmdcnt); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
547 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
548 |
|
| 0 | 549 |
if (length == 0) |
550 |
{
|
|
551 |
EC_DBG(KERN_WARNING "EtherCAT: Nothing to send...\n"); |
|
552 |
return 0; |
|
553 |
} |
|
554 |
||
555 |
framelength = length + 2; |
|
556 |
if (framelength < 46) framelength = 46; |
|
557 |
||
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
558 |
if (master->debug_level > 0) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
559 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
560 |
EC_DBG(KERN_DEBUG "framelength: %i\n", framelength); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
561 |
} |
| 0 | 562 |
|
563 |
master->tx_data[0] = length & 0xFF; |
|
564 |
master->tx_data[1] = ((length & 0x700) >> 8) | 0x10; |
|
565 |
pos = 2; |
|
566 |
||
567 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
568 |
{
|
|
569 |
if (cmd->state != ECAT_CS_READY) continue; |
|
570 |
||
571 |
cmd->index = master->command_index; |
|
572 |
master->command_index = (master->command_index + 1) % 0x0100; |
|
573 |
||
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
574 |
if (master->debug_level > 0) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
575 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
576 |
EC_DBG(KERN_DEBUG "Sending command index %i\n", cmd->index); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
577 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
578 |
|
| 0 | 579 |
cmd->state = ECAT_CS_SENT; |
580 |
||
581 |
master->tx_data[pos + 0] = cmd->type; |
|
582 |
master->tx_data[pos + 1] = cmd->index; |
|
583 |
||
584 |
master->tx_data[pos + 2] = cmd->address.raw[0]; |
|
585 |
master->tx_data[pos + 3] = cmd->address.raw[1]; |
|
586 |
master->tx_data[pos + 4] = cmd->address.raw[2]; |
|
587 |
master->tx_data[pos + 5] = cmd->address.raw[3]; |
|
588 |
||
589 |
master->tx_data[pos + 6] = cmd->data_length & 0xFF; |
|
590 |
master->tx_data[pos + 7] = (cmd->data_length & 0x700) >> 8; |
|
591 |
||
592 |
if (cmd->next) master->tx_data[pos + 7] |= 0x80; |
|
593 |
||
594 |
master->tx_data[pos + 8] = 0x00; |
|
595 |
master->tx_data[pos + 9] = 0x00; |
|
596 |
||
597 |
if (cmd->type == ECAT_CMD_APWR |
|
598 |
|| cmd->type == ECAT_CMD_NPWR |
|
599 |
|| cmd->type == ECAT_CMD_BWR |
|
600 |
|| cmd->type == ECAT_CMD_LRW) // Write |
|
601 |
{
|
|
602 |
for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = cmd->data[i]; |
|
603 |
} |
|
604 |
else // Read |
|
605 |
{
|
|
606 |
for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = 0x00; |
|
607 |
} |
|
608 |
||
609 |
master->tx_data[pos + 10 + cmd->data_length] = 0x00; |
|
610 |
master->tx_data[pos + 11 + cmd->data_length] = 0x00; |
|
611 |
||
612 |
pos += 12 + cmd->data_length; |
|
613 |
} |
|
614 |
||
615 |
// Pad with zeros |
|
616 |
while (pos < 46) master->tx_data[pos++] = 0x00; |
|
617 |
||
618 |
master->tx_data_length = framelength; |
|
619 |
||
620 |
#ifdef DEBUG_SEND_RECEIVE |
|
621 |
EC_DBG(KERN_DEBUG "\n"); |
|
622 |
EC_DBG(KERN_DEBUG ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"); |
|
623 |
EC_DBG(KERN_DEBUG); |
|
624 |
for (i = 0; i < framelength; i++) |
|
625 |
{
|
|
626 |
EC_DBG("%02X ", master->tx_data[i]);
|
|
627 |
||
628 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
629 |
} |
|
630 |
EC_DBG("\n");
|
|
631 |
EC_DBG(KERN_DEBUG "-----------------------------------------------\n"); |
|
632 |
#endif |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
633 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
634 |
if (master->debug_level > 0) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
635 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
636 |
EC_DBG(KERN_DEBUG "device send...\n"); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
637 |
} |
| 0 | 638 |
|
639 |
// Send frame |
|
640 |
if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0) |
|
641 |
{
|
|
642 |
EC_DBG(KERN_ERR "EtherCAT: Could not send!\n"); |
|
643 |
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
644 |
EC_DBG(KERN_DEBUG); |
|
645 |
for (i = 0; i < framelength; i++) |
|
646 |
{
|
|
647 |
EC_DBG("%02X ", master->tx_data[i]);
|
|
648 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
649 |
} |
|
650 |
EC_DBG("\n");
|
|
651 |
return -1; |
|
652 |
} |
|
653 |
||
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
654 |
if (master->debug_level > 0) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
655 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
656 |
EC_DBG(KERN_DEBUG "EtherCAT_send done.\n"); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
657 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
658 |
|
| 0 | 659 |
return 0; |
660 |
} |
|
661 |
||
662 |
/***************************************************************/ |
|
663 |
||
664 |
/** |
|
665 |
Holt alle empfangenen Kommandos vom EtherCAT-Gerät. |
|
666 |
||
667 |
Kopiert einen empfangenen Rahmen vom EtherCAT-Gerät |
|
668 |
in den Statischen Empfangsspeicher und ordnet dann |
|
669 |
allen gesendeten Kommandos ihre Antworten zu. |
|
670 |
||
671 |
@param master EtherCAT-Master |
|
672 |
||
673 |
@return 0 bei Erfolg, sonst < 0 |
|
674 |
*/ |
|
675 |
||
676 |
int EtherCAT_receive(EtherCAT_master_t *master) |
|
677 |
{
|
|
678 |
EtherCAT_command_t *cmd; |
|
679 |
unsigned int length, pos, found, rx_data_length; |
|
680 |
unsigned int command_follows, command_type, command_index; |
|
681 |
unsigned int i; |
|
682 |
||
683 |
// Copy received data into master buffer (with locking) |
|
684 |
rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data, |
|
685 |
ECAT_FRAME_BUFFER_SIZE); |
|
686 |
||
687 |
#ifdef DEBUG_SEND_RECEIVE |
|
688 |
for (i = 0; i < rx_data_length; i++) |
|
689 |
{
|
|
690 |
if (master->rx_data[i] == master->tx_data[i]) EC_DBG(" ");
|
|
691 |
else EC_DBG("%02X ", master->rx_data[i]);
|
|
692 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
693 |
} |
|
694 |
EC_DBG("\n");
|
|
695 |
EC_DBG(KERN_DEBUG "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<\n"); |
|
696 |
EC_DBG(KERN_DEBUG "\n"); |
|
697 |
#endif |
|
698 |
||
699 |
if (rx_data_length < 2) |
|
700 |
{
|
|
701 |
EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (illegal length)!\n"); |
|
702 |
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
703 |
EC_DBG(KERN_DEBUG); |
|
704 |
for (i = 0; i < master->tx_data_length; i++) |
|
705 |
{
|
|
706 |
EC_DBG("%02X ", master->tx_data[i]);
|
|
707 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
708 |
} |
|
709 |
EC_DBG("\n");
|
|
710 |
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n"); |
|
711 |
EC_DBG(KERN_DEBUG); |
|
712 |
for (i = 0; i < rx_data_length; i++) |
|
713 |
{
|
|
714 |
EC_DBG("%02X ", master->rx_data[i]);
|
|
715 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
716 |
} |
|
717 |
EC_DBG("\n");
|
|
718 |
return -1; |
|
719 |
} |
|
720 |
||
721 |
// Länge des gesamten Frames prüfen |
|
722 |
length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF); |
|
723 |
||
724 |
if (length > rx_data_length) |
|
725 |
{
|
|
726 |
EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n"); |
|
727 |
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
728 |
EC_DBG(KERN_DEBUG); |
|
729 |
for (i = 0; i < master->tx_data_length; i++) |
|
730 |
{
|
|
731 |
EC_DBG("%02X ", master->tx_data[i]);
|
|
732 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
733 |
} |
|
734 |
EC_DBG("\n");
|
|
735 |
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n"); |
|
736 |
EC_DBG(KERN_DEBUG); |
|
737 |
for (i = 0; i < rx_data_length; i++) |
|
738 |
{
|
|
739 |
EC_DBG("%02X ", master->rx_data[i]);
|
|
740 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
741 |
} |
|
742 |
EC_DBG("\n");
|
|
743 |
return -1; |
|
744 |
} |
|
745 |
||
746 |
pos = 2; // LibPCAP: 16 |
|
747 |
command_follows = 1; |
|
748 |
while (command_follows) |
|
749 |
{
|
|
750 |
if (pos + 10 > rx_data_length) |
|
751 |
{
|
|
752 |
EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command header!\n"); |
|
753 |
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
754 |
EC_DBG(KERN_DEBUG); |
|
755 |
for (i = 0; i < master->tx_data_length; i++) |
|
756 |
{
|
|
757 |
EC_DBG("%02X ", master->tx_data[i]);
|
|
758 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
759 |
} |
|
760 |
EC_DBG("\n");
|
|
761 |
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n"); |
|
762 |
EC_DBG(KERN_DEBUG); |
|
763 |
for (i = 0; i < rx_data_length; i++) |
|
764 |
{
|
|
765 |
EC_DBG("%02X ", master->rx_data[i]);
|
|
766 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
767 |
} |
|
768 |
EC_DBG("\n");
|
|
769 |
return -1; |
|
770 |
} |
|
771 |
||
772 |
command_type = master->rx_data[pos]; |
|
773 |
command_index = master->rx_data[pos + 1]; |
|
774 |
length = (master->rx_data[pos + 6] & 0xFF) |
|
775 |
| ((master->rx_data[pos + 7] & 0x07) << 8); |
|
776 |
command_follows = master->rx_data[pos + 7] & 0x80; |
|
777 |
||
778 |
if (pos + length + 12 > rx_data_length) |
|
779 |
{
|
|
780 |
EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n"); |
|
781 |
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
782 |
EC_DBG(KERN_DEBUG); |
|
783 |
for (i = 0; i < master->tx_data_length; i++) |
|
784 |
{
|
|
785 |
EC_DBG("%02X ", master->tx_data[i]);
|
|
786 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
787 |
} |
|
788 |
EC_DBG("\n");
|
|
789 |
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n"); |
|
790 |
EC_DBG(KERN_DEBUG); |
|
791 |
for (i = 0; i < rx_data_length; i++) |
|
792 |
{
|
|
793 |
EC_DBG("%02X ", master->rx_data[i]);
|
|
794 |
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
|
|
795 |
} |
|
796 |
EC_DBG("\n");
|
|
797 |
return -1; |
|
798 |
} |
|
799 |
||
800 |
found = 0; |
|
801 |
||
802 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
803 |
{
|
|
804 |
if (cmd->state == ECAT_CS_SENT |
|
805 |
&& cmd->type == command_type |
|
806 |
&& cmd->index == command_index |
|
807 |
&& cmd->data_length == length) |
|
808 |
{
|
|
809 |
found = 1; |
|
810 |
cmd->state = ECAT_CS_RECEIVED; |
|
811 |
||
812 |
// Empfangene Daten in Kommandodatenspeicher kopieren |
|
813 |
memcpy(cmd->data, master->rx_data + pos + 10, length); |
|
814 |
||
815 |
// Working-Counter setzen |
|
816 |
cmd->working_counter = (master->rx_data[pos + length + 10] & 0xFF) |
|
817 |
| ((master->rx_data[pos + length + 11] & 0xFF) << 8); |
|
818 |
} |
|
819 |
} |
|
820 |
||
821 |
if (!found) |
|
822 |
{
|
|
823 |
EC_DBG(KERN_WARNING "EtherCAT: WARNING - Command not assigned!\n"); |
|
824 |
} |
|
825 |
||
826 |
pos += length + 12; |
|
827 |
} |
|
828 |
||
829 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
830 |
{
|
|
831 |
if (cmd->state == ECAT_CS_SENT) |
|
832 |
{
|
|
833 |
EC_DBG(KERN_WARNING "EtherCAT: WARNING - One command received no response!\n"); |
|
834 |
} |
|
835 |
} |
|
836 |
||
837 |
master->dev->state = ECAT_DS_READY; |
|
838 |
||
839 |
return 0; |
|
840 |
} |
|
841 |
||
842 |
/***************************************************************/ |
|
843 |
||
844 |
#define ECAT_FUNC_HEADER \ |
|
845 |
EtherCAT_command_t *cmd; \ |
|
846 |
if ((cmd = alloc_cmd(master)) == NULL) \ |
|
847 |
{ \
|
|
848 |
EC_DBG(KERN_ERR "EtherCAT: Out of memory while creating command!\n"); \ |
|
849 |
return NULL; \ |
|
850 |
} \ |
|
851 |
EtherCAT_command_init(cmd) |
|
852 |
||
853 |
#define ECAT_FUNC_WRITE_FOOTER \ |
|
854 |
cmd->data_length = length; \ |
|
855 |
memcpy(cmd->data, data, length); \ |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
856 |
if (add_command(master, cmd) < 0) return NULL; \ |
| 0 | 857 |
return cmd |
858 |
||
859 |
#define ECAT_FUNC_READ_FOOTER \ |
|
860 |
cmd->data_length = length; \ |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
861 |
if (add_command(master, cmd) < 0) return NULL; \ |
| 0 | 862 |
return cmd |
863 |
||
864 |
/***************************************************************/ |
|
865 |
||
866 |
/** |
|
867 |
Erstellt ein EtherCAT-NPRD-Kommando. |
|
868 |
||
869 |
Alloziert ein "node-adressed physical read"-Kommando |
|
870 |
und fügt es in die Liste des Masters ein. |
|
871 |
||
872 |
@param master EtherCAT-Master |
|
873 |
@param node_address Adresse des Knotens (Slaves) |
|
874 |
@param offset Physikalische Speicheradresse im Slave |
|
875 |
@param length Länge der zu lesenden Daten |
|
876 |
||
877 |
@return Adresse des Kommandos bei Erfolg, sonst NULL |
|
878 |
*/ |
|
879 |
||
880 |
EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *master, |
|
881 |
unsigned short node_address, |
|
882 |
unsigned short offset, |
|
883 |
unsigned int length) |
|
884 |
{
|
|
885 |
if (node_address == 0x0000) |
|
886 |
EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n"); |
|
887 |
||
888 |
ECAT_FUNC_HEADER; |
|
889 |
||
890 |
cmd->type = ECAT_CMD_NPRD; |
|
891 |
cmd->address.phy.dev.node = node_address; |
|
892 |
cmd->address.phy.mem = offset; |
|
893 |
||
894 |
ECAT_FUNC_READ_FOOTER; |
|
895 |
} |
|
896 |
||
897 |
/***************************************************************/ |
|
898 |
||
899 |
/** |
|
900 |
Erstellt ein EtherCAT-NPWR-Kommando. |
|
901 |
||
902 |
Alloziert ein "node-adressed physical write"-Kommando |
|
903 |
und fügt es in die Liste des Masters ein. |
|
904 |
||
905 |
@param master EtherCAT-Master |
|
906 |
@param node_address Adresse des Knotens (Slaves) |
|
907 |
@param offset Physikalische Speicheradresse im Slave |
|
908 |
@param length Länge der zu schreibenden Daten |
|
909 |
@param data Zeiger auf Speicher mit zu schreibenden Daten |
|
910 |
||
911 |
@return Adresse des Kommandos bei Erfolg, sonst NULL |
|
912 |
*/ |
|
913 |
||
914 |
EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *master, |
|
915 |
unsigned short node_address, |
|
916 |
unsigned short offset, |
|
917 |
unsigned int length, |
|
918 |
const unsigned char *data) |
|
919 |
{
|
|
920 |
if (node_address == 0x0000) |
|
921 |
EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n"); |
|
922 |
||
923 |
ECAT_FUNC_HEADER; |
|
924 |
||
925 |
cmd->type = ECAT_CMD_NPWR; |
|
926 |
cmd->address.phy.dev.node = node_address; |
|
927 |
cmd->address.phy.mem = offset; |
|
928 |
||
929 |
ECAT_FUNC_WRITE_FOOTER; |
|
930 |
} |
|
931 |
||
932 |
/***************************************************************/ |
|
933 |
||
934 |
/** |
|
935 |
Erstellt ein EtherCAT-APRD-Kommando. |
|
936 |
||
937 |
Alloziert ein "autoincerement physical read"-Kommando |
|
938 |
und fügt es in die Liste des Masters ein. |
|
939 |
||
940 |
@param master EtherCAT-Master |
|
941 |
@param ring_position (Negative) Position des Slaves im Bus |
|
942 |
@param offset Physikalische Speicheradresse im Slave |
|
943 |
@param length Länge der zu lesenden Daten |
|
944 |
||
945 |
@return Adresse des Kommandos bei Erfolg, sonst NULL |
|
946 |
*/ |
|
947 |
||
948 |
EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *master, |
|
949 |
short ring_position, |
|
950 |
unsigned short offset, |
|
951 |
unsigned int length) |
|
952 |
{
|
|
953 |
ECAT_FUNC_HEADER; |
|
954 |
||
955 |
cmd->type = ECAT_CMD_APRD; |
|
956 |
cmd->address.phy.dev.pos = ring_position; |
|
957 |
cmd->address.phy.mem = offset; |
|
958 |
||
959 |
ECAT_FUNC_READ_FOOTER; |
|
960 |
} |
|
961 |
||
962 |
/***************************************************************/ |
|
963 |
||
964 |
/** |
|
965 |
Erstellt ein EtherCAT-APWR-Kommando. |
|
966 |
||
967 |
Alloziert ein "autoincrement physical write"-Kommando |
|
968 |
und fügt es in die Liste des Masters ein. |
|
969 |
||
970 |
@param master EtherCAT-Master |
|
971 |
@param ring_position (Negative) Position des Slaves im Bus |
|
972 |
@param offset Physikalische Speicheradresse im Slave |
|
973 |
@param length Länge der zu schreibenden Daten |
|
974 |
@param data Zeiger auf Speicher mit zu schreibenden Daten |
|
975 |
||
976 |
@return Adresse des Kommandos bei Erfolg, sonst NULL |
|
977 |
*/ |
|
978 |
||
979 |
EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *master, |
|
980 |
short ring_position, |
|
981 |
unsigned short offset, |
|
982 |
unsigned int length, |
|
983 |
const unsigned char *data) |
|
984 |
{
|
|
985 |
ECAT_FUNC_HEADER; |
|
986 |
||
987 |
cmd->type = ECAT_CMD_APWR; |
|
988 |
cmd->address.phy.dev.pos = ring_position; |
|
989 |
cmd->address.phy.mem = offset; |
|
990 |
||
991 |
ECAT_FUNC_WRITE_FOOTER; |
|
992 |
} |
|
993 |
||
994 |
/***************************************************************/ |
|
995 |
||
996 |
/** |
|
997 |
Erstellt ein EtherCAT-BRD-Kommando. |
|
998 |
||
999 |
Alloziert ein "broadcast read"-Kommando |
|
1000 |
und fügt es in die Liste des Masters ein. |
|
1001 |
||
1002 |
@param master EtherCAT-Master |
|
1003 |
@param offset Physikalische Speicheradresse im Slave |
|
1004 |
@param length Länge der zu lesenden Daten |
|
1005 |
||
1006 |
@return Adresse des Kommandos bei Erfolg, sonst NULL |
|
1007 |
*/ |
|
1008 |
||
1009 |
EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *master, |
|
1010 |
unsigned short offset, |
|
1011 |
unsigned int length) |
|
1012 |
{
|
|
1013 |
ECAT_FUNC_HEADER; |
|
1014 |
||
1015 |
cmd->type = ECAT_CMD_BRD; |
|
1016 |
cmd->address.phy.dev.node = 0x0000; |
|
1017 |
cmd->address.phy.mem = offset; |
|
1018 |
||
1019 |
ECAT_FUNC_READ_FOOTER; |
|
1020 |
} |
|
1021 |
||
1022 |
/***************************************************************/ |
|
1023 |
||
1024 |
/** |
|
1025 |
Erstellt ein EtherCAT-BWR-Kommando. |
|
1026 |
||
1027 |
Alloziert ein "broadcast write"-Kommando |
|
1028 |
und fügt es in die Liste des Masters ein. |
|
1029 |
||
1030 |
@param master EtherCAT-Master |
|
1031 |
@param offset Physikalische Speicheradresse im Slave |
|
1032 |
@param length Länge der zu schreibenden Daten |
|
1033 |
@param data Zeiger auf Speicher mit zu schreibenden Daten |
|
1034 |
||
1035 |
@return Adresse des Kommandos bei Erfolg, sonst NULL |
|
1036 |
*/ |
|
1037 |
||
1038 |
EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *master, |
|
1039 |
unsigned short offset, |
|
1040 |
unsigned int length, |
|
1041 |
const unsigned char *data) |
|
1042 |
{
|
|
1043 |
ECAT_FUNC_HEADER; |
|
1044 |
||
1045 |
cmd->type = ECAT_CMD_BWR; |
|
1046 |
cmd->address.phy.dev.node = 0x0000; |
|
1047 |
cmd->address.phy.mem = offset; |
|
1048 |
||
1049 |
ECAT_FUNC_WRITE_FOOTER; |
|
1050 |
} |
|
1051 |
||
1052 |
/***************************************************************/ |
|
1053 |
||
1054 |
/** |
|
1055 |
Erstellt ein EtherCAT-LRW-Kommando. |
|
1056 |
||
1057 |
Alloziert ein "logical read write"-Kommando |
|
1058 |
und fügt es in die Liste des Masters ein. |
|
1059 |
||
1060 |
@param master EtherCAT-Master |
|
1061 |
@param offset Logische Speicheradresse |
|
1062 |
@param length Länge der zu lesenden/schreibenden Daten |
|
1063 |
@param data Zeiger auf Speicher mit zu lesenden/schreibenden Daten |
|
1064 |
||
1065 |
@return Adresse des Kommandos bei Erfolg, sonst NULL |
|
1066 |
*/ |
|
1067 |
||
1068 |
EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *master, |
|
1069 |
unsigned int offset, |
|
1070 |
unsigned int length, |
|
1071 |
unsigned char *data) |
|
1072 |
{
|
|
1073 |
ECAT_FUNC_HEADER; |
|
1074 |
||
1075 |
cmd->type = ECAT_CMD_LRW; |
|
1076 |
cmd->address.logical = offset; |
|
1077 |
||
1078 |
ECAT_FUNC_WRITE_FOOTER; |
|
1079 |
} |
|
1080 |
||
1081 |
/***************************************************************/ |
|
1082 |
||
1083 |
/** |
|
1084 |
Alloziert ein neues Kommando aus dem Kommandoring. |
|
1085 |
||
1086 |
Durchsucht den Kommandoring nach einem freien Kommando, |
|
1087 |
reserviert es und gibt dessen Adresse zurück. |
|
1088 |
||
1089 |
@param master EtherCAT-Master |
|
1090 |
||
1091 |
@return Adresse des Kommandos bei Erfolg, sonst NULL |
|
1092 |
*/ |
|
1093 |
||
1094 |
EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *master) |
|
1095 |
{
|
|
1096 |
int j; |
|
1097 |
||
1098 |
for (j = 0; j < ECAT_COMMAND_RING_SIZE; j++) // Einmal rum suchen |
|
1099 |
{
|
|
1100 |
// Solange suchen, bis freies Kommando gefunden |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1101 |
if (master->cmd_reserved[master->cmd_ring_index] == 0) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1102 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1103 |
master->cmd_reserved[master->cmd_ring_index] = 1; // Belegen |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1104 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1105 |
if (master->debug_level) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1106 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1107 |
EC_DBG(KERN_DEBUG "Allocating command %i (addr %X).\n", |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1108 |
master->cmd_ring_index, |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1109 |
(int) &master->cmd_ring[master->cmd_ring_index]); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1110 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1111 |
|
| 0 | 1112 |
return &master->cmd_ring[master->cmd_ring_index]; |
1113 |
} |
|
1114 |
||
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1115 |
if (master->debug_level) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1116 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1117 |
EC_DBG(KERN_DEBUG "Command %i (addr %X) is reserved...\n", |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1118 |
master->cmd_ring_index, |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1119 |
(int) &master->cmd_ring[master->cmd_ring_index]); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1120 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1121 |
|
| 0 | 1122 |
master->cmd_ring_index++; |
1123 |
master->cmd_ring_index %= ECAT_COMMAND_RING_SIZE; |
|
1124 |
} |
|
1125 |
||
1126 |
EC_DBG(KERN_WARNING "EtherCAT: Command ring full!\n"); |
|
1127 |
||
1128 |
return NULL; // Nix gefunden |
|
1129 |
} |
|
1130 |
||
1131 |
/***************************************************************/ |
|
1132 |
||
1133 |
/** |
|
1134 |
Fügt ein Kommando in die Liste des Masters ein. |
|
1135 |
||
1136 |
@param master EtherCAT-Master |
|
1137 |
@param cmd Zeiger auf das einzufügende Kommando |
|
1138 |
*/ |
|
1139 |
||
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1140 |
int add_command(EtherCAT_master_t *master, |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1141 |
EtherCAT_command_t *new_cmd) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1142 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1143 |
EtherCAT_command_t *cmd, **last_cmd; |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1144 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1145 |
for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1146 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1147 |
if (cmd == new_cmd) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1148 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1149 |
EC_DBG(KERN_WARNING "EtherCAT: Trying to add a command" |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1150 |
" that is already in the list!\n"); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1151 |
return -1; |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1152 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1153 |
} |
| 0 | 1154 |
|
1155 |
// Find the address of the last pointer in the list |
|
1156 |
last_cmd = &(master->first_command); |
|
1157 |
while (*last_cmd) last_cmd = &(*last_cmd)->next; |
|
1158 |
||
1159 |
// Let this pointer point to the new command |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1160 |
*last_cmd = new_cmd; |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1161 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1162 |
return 0; |
| 0 | 1163 |
} |
1164 |
||
1165 |
/***************************************************************/ |
|
1166 |
||
1167 |
/** |
|
1168 |
Entfernt ein Kommando aus der Liste und gibt es frei. |
|
1169 |
||
1170 |
Prüft erst, ob das Kommando in der Liste des Masters |
|
1171 |
ist. Wenn ja, wird es entfernt und die Reservierung wird |
|
1172 |
aufgehoben. |
|
1173 |
||
1174 |
@param master EtherCAT-Master |
|
1175 |
@param rem_cmd Zeiger auf das zu entfernende Kommando |
|
1176 |
||
1177 |
@return 0 bei Erfolg, sonst < 0 |
|
1178 |
*/ |
|
1179 |
||
1180 |
void EtherCAT_remove_command(EtherCAT_master_t *master, |
|
1181 |
EtherCAT_command_t *rem_cmd) |
|
1182 |
{
|
|
1183 |
EtherCAT_command_t **last_cmd; |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1184 |
int i; |
| 0 | 1185 |
|
1186 |
last_cmd = &master->first_command; |
|
1187 |
while (*last_cmd) |
|
1188 |
{
|
|
1189 |
if (*last_cmd == rem_cmd) |
|
1190 |
{
|
|
1191 |
*last_cmd = rem_cmd->next; |
|
1192 |
EtherCAT_command_clear(rem_cmd); |
|
1193 |
||
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1194 |
// Reservierung des Kommandos aufheben |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1195 |
for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1196 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1197 |
if (&master->cmd_ring[i] == rem_cmd) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1198 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1199 |
master->cmd_reserved[i] = 0; |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1200 |
return; |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1201 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1202 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1203 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1204 |
EC_DBG(KERN_WARNING "EtherCAT: Could not remove command reservation!\n"); |
| 0 | 1205 |
return; |
1206 |
} |
|
1207 |
||
1208 |
last_cmd = &(*last_cmd)->next; |
|
1209 |
} |
|
1210 |
||
1211 |
EC_DBG(KERN_WARNING "EtherCAT: Trying to remove non-existent command!\n"); |
|
1212 |
} |
|
1213 |
||
1214 |
/***************************************************************/ |
|
1215 |
||
1216 |
/** |
|
1217 |
Ändert den Zustand eines Slaves (asynchron). |
|
1218 |
||
1219 |
Führt eine (asynchrone) Zustandsänderung bei einem Slave durch. |
|
1220 |
||
1221 |
@param master EtherCAT-Master |
|
1222 |
@param slave Slave, dessen Zustand geändert werden soll |
|
1223 |
@param state_and_ack Neuer Zustand, evtl. mit gesetztem |
|
1224 |
Acknowledge-Flag |
|
1225 |
||
1226 |
@return 0 bei Erfolg, sonst < 0 |
|
1227 |
*/ |
|
1228 |
||
1229 |
int EtherCAT_state_change(EtherCAT_master_t *master, |
|
1230 |
EtherCAT_slave_t *slave, |
|
1231 |
unsigned char state_and_ack) |
|
1232 |
{
|
|
1233 |
EtherCAT_command_t *cmd; |
|
1234 |
unsigned char data[2]; |
|
1235 |
unsigned int tries_left; |
|
1236 |
||
1237 |
data[0] = state_and_ack; |
|
1238 |
data[1] = 0x00; |
|
1239 |
||
1240 |
if ((cmd = EtherCAT_write(master, slave->station_address, |
|
1241 |
0x0120, 2, data)) == NULL) |
|
1242 |
{
|
|
1243 |
EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Out of memory!\n", state_and_ack); |
|
1244 |
return -1; |
|
1245 |
} |
|
1246 |
||
1247 |
if (EtherCAT_async_send_receive(master) != 0) |
|
1248 |
{
|
|
1249 |
EtherCAT_remove_command(master, cmd); |
|
1250 |
||
1251 |
EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n", state_and_ack); |
|
1252 |
return -2; |
|
1253 |
} |
|
1254 |
||
1255 |
if (cmd->working_counter != 1) |
|
1256 |
{
|
|
1257 |
EtherCAT_remove_command(master, cmd); |
|
1258 |
||
1259 |
EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Device did not respond!\n", state_and_ack); |
|
1260 |
return -3; |
|
1261 |
} |
|
1262 |
||
1263 |
EtherCAT_remove_command(master, cmd); |
|
1264 |
||
1265 |
slave->requested_state = state_and_ack & 0x0F; |
|
1266 |
||
1267 |
tries_left = 1000; |
|
1268 |
||
1269 |
while (tries_left) |
|
1270 |
{
|
|
1271 |
udelay(10); |
|
1272 |
||
1273 |
if ((cmd = EtherCAT_read(master, slave->station_address, |
|
1274 |
0x0130, 2)) == NULL) |
|
1275 |
{
|
|
1276 |
EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Out of memory!\n", state_and_ack); |
|
1277 |
return -1; |
|
1278 |
} |
|
1279 |
||
1280 |
if (EtherCAT_async_send_receive(master) != 0) |
|
1281 |
{
|
|
1282 |
EtherCAT_remove_command(master, cmd); |
|
1283 |
||
1284 |
EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Unable to send!\n", state_and_ack); |
|
1285 |
return -2; |
|
1286 |
} |
|
1287 |
||
1288 |
if (cmd->working_counter != 1) |
|
1289 |
{
|
|
1290 |
EtherCAT_remove_command(master, cmd); |
|
1291 |
||
1292 |
EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Device did not respond!\n", state_and_ack); |
|
1293 |
return -3; |
|
1294 |
} |
|
1295 |
||
1296 |
if (cmd->data[0] & 0x10) // State change error |
|
1297 |
{
|
|
1298 |
EtherCAT_remove_command(master, cmd); |
|
1299 |
||
1300 |
EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Device refused state change (code %02X)!\n", state_and_ack, cmd->data[0]); |
|
1301 |
return -4; |
|
1302 |
} |
|
1303 |
||
1304 |
if (cmd->data[0] == (state_and_ack & 0x0F)) // State change successful |
|
1305 |
{
|
|
1306 |
EtherCAT_remove_command(master, cmd); |
|
1307 |
||
1308 |
break; |
|
1309 |
} |
|
1310 |
||
1311 |
EtherCAT_remove_command(master, cmd); |
|
1312 |
||
1313 |
tries_left--; |
|
1314 |
} |
|
1315 |
||
1316 |
if (!tries_left) |
|
1317 |
{
|
|
1318 |
EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while checking!\n", state_and_ack); |
|
1319 |
return -5; |
|
1320 |
} |
|
1321 |
||
1322 |
slave->current_state = state_and_ack & 0x0F; |
|
1323 |
||
1324 |
return 0; |
|
1325 |
} |
|
1326 |
||
1327 |
/***************************************************************/ |
|
1328 |
||
1329 |
/** |
|
1330 |
Konfiguriert einen Slave und setzt den Operational-Zustand. |
|
1331 |
||
1332 |
Führt eine komplette Konfiguration eines Slaves durch, |
|
1333 |
setzt Sync-Manager und FMMU's, führt die entsprechenden |
|
1334 |
Zustandsübergänge durch, bis der Slave betriebsbereit ist. |
|
1335 |
||
1336 |
@param master EtherCAT-Master |
|
1337 |
@param slave Zu aktivierender Slave |
|
1338 |
||
1339 |
@return 0 bei Erfolg, sonst < 0 |
|
1340 |
*/ |
|
1341 |
||
1342 |
int EtherCAT_activate_slave(EtherCAT_master_t *master, |
|
1343 |
EtherCAT_slave_t *slave) |
|
1344 |
{
|
|
1345 |
EtherCAT_command_t *cmd; |
|
1346 |
const EtherCAT_slave_desc_t *desc; |
|
1347 |
unsigned char fmmu[16]; |
|
1348 |
unsigned char data[256]; |
|
1349 |
||
1350 |
desc = slave->desc; |
|
1351 |
||
1352 |
if (EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0) |
|
1353 |
{
|
|
1354 |
return -1; |
|
1355 |
} |
|
1356 |
||
1357 |
// Resetting FMMU's |
|
1358 |
||
1359 |
memset(data, 0x00, 256); |
|
1360 |
||
1361 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0600, 256, data)) == NULL) |
|
1362 |
return -1; |
|
1363 |
||
1364 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1365 |
{
|
|
1366 |
EtherCAT_remove_command(master, cmd); |
|
1367 |
||
1368 |
return -1; |
|
1369 |
} |
|
1370 |
||
1371 |
if (cmd->working_counter != 1) |
|
1372 |
{
|
|
1373 |
EtherCAT_remove_command(master, cmd); |
|
1374 |
||
1375 |
EC_DBG(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not respond!\n", |
|
1376 |
slave->station_address); |
|
1377 |
return -2; |
|
1378 |
} |
|
1379 |
||
1380 |
EtherCAT_remove_command(master, cmd); |
|
1381 |
||
1382 |
// Resetting Sync Manager channels |
|
1383 |
||
1384 |
if (desc->type != ECAT_ST_SIMPLE_NOSYNC) |
|
1385 |
{
|
|
1386 |
memset(data, 0x00, 256); |
|
1387 |
||
1388 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0800, 256, data)) == NULL) |
|
1389 |
return -1; |
|
1390 |
||
1391 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1392 |
{
|
|
1393 |
EtherCAT_remove_command(master, cmd); |
|
1394 |
||
1395 |
return -1; |
|
1396 |
} |
|
1397 |
||
1398 |
if (cmd->working_counter != 1) |
|
1399 |
{
|
|
1400 |
EtherCAT_remove_command(master, cmd); |
|
1401 |
||
1402 |
EC_DBG(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not respond!\n", |
|
1403 |
slave->station_address); |
|
1404 |
return -2; |
|
1405 |
} |
|
1406 |
||
1407 |
EtherCAT_remove_command(master, cmd); |
|
1408 |
} |
|
1409 |
||
1410 |
// Init Mailbox communication |
|
1411 |
||
1412 |
if (desc->type == ECAT_ST_MAILBOX) |
|
1413 |
{
|
|
1414 |
if (desc->sm0) |
|
1415 |
{
|
|
1416 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0)) == NULL) |
|
1417 |
return -1; |
|
1418 |
||
1419 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1420 |
{
|
|
1421 |
EtherCAT_remove_command(master, cmd); |
|
1422 |
||
1423 |
return -1; |
|
1424 |
} |
|
1425 |
||
1426 |
if (cmd->working_counter != 1) |
|
1427 |
{
|
|
1428 |
EtherCAT_remove_command(master, cmd); |
|
1429 |
||
1430 |
EC_DBG(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n", |
|
1431 |
slave->station_address); |
|
1432 |
return -3; |
|
1433 |
} |
|
1434 |
||
1435 |
EtherCAT_remove_command(master, cmd); |
|
1436 |
} |
|
1437 |
||
1438 |
if (desc->sm1) |
|
1439 |
{
|
|
1440 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1)) == NULL) |
|
1441 |
return -1; |
|
1442 |
||
1443 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1444 |
{
|
|
1445 |
EtherCAT_remove_command(master, cmd); |
|
1446 |
||
1447 |
return -1; |
|
1448 |
} |
|
1449 |
||
1450 |
if (cmd->working_counter != 1) |
|
1451 |
{
|
|
1452 |
EtherCAT_remove_command(master, cmd); |
|
1453 |
||
1454 |
EC_DBG(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n", |
|
1455 |
slave->station_address); |
|
1456 |
return -2; |
|
1457 |
} |
|
1458 |
||
1459 |
EtherCAT_remove_command(master, cmd); |
|
1460 |
} |
|
1461 |
} |
|
1462 |
||
1463 |
// Change state to PREOP |
|
1464 |
||
1465 |
if (EtherCAT_state_change(master, slave, ECAT_STATE_PREOP) != 0) |
|
1466 |
{
|
|
1467 |
return -5; |
|
1468 |
} |
|
1469 |
||
1470 |
// Set FMMU's |
|
1471 |
||
1472 |
if (desc->fmmu0) |
|
1473 |
{
|
|
1474 |
memcpy(fmmu, desc->fmmu0, 16); |
|
1475 |
||
1476 |
fmmu[0] = slave->logical_address0 & 0x000000FF; |
|
1477 |
fmmu[1] = (slave->logical_address0 & 0x0000FF00) >> 8; |
|
1478 |
fmmu[2] = (slave->logical_address0 & 0x00FF0000) >> 16; |
|
1479 |
fmmu[3] = (slave->logical_address0 & 0xFF000000) >> 24; |
|
1480 |
||
1481 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0600, 16, fmmu)) == NULL) |
|
1482 |
return -1; |
|
1483 |
||
1484 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1485 |
{
|
|
1486 |
EtherCAT_remove_command(master, cmd); |
|
1487 |
||
1488 |
return -1; |
|
1489 |
} |
|
1490 |
||
1491 |
if (cmd->working_counter != 1) |
|
1492 |
{
|
|
1493 |
EtherCAT_remove_command(master, cmd); |
|
1494 |
||
1495 |
EC_DBG(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not respond!\n", |
|
1496 |
slave->station_address); |
|
1497 |
return -2; |
|
1498 |
} |
|
1499 |
||
1500 |
EtherCAT_remove_command(master, cmd); |
|
1501 |
} |
|
1502 |
||
1503 |
// Set Sync Managers |
|
1504 |
||
1505 |
if (desc->type != ECAT_ST_MAILBOX) |
|
1506 |
{
|
|
1507 |
if (desc->sm0) |
|
1508 |
{
|
|
1509 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0)) == NULL) |
|
1510 |
return -1; |
|
1511 |
||
1512 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1513 |
{
|
|
1514 |
EtherCAT_remove_command(master, cmd); |
|
1515 |
||
1516 |
return -1; |
|
1517 |
} |
|
1518 |
||
1519 |
if (cmd->working_counter != 1) |
|
1520 |
{
|
|
1521 |
EtherCAT_remove_command(master, cmd); |
|
1522 |
||
1523 |
EC_DBG(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n", |
|
1524 |
slave->station_address); |
|
1525 |
return -3; |
|
1526 |
} |
|
1527 |
||
1528 |
EtherCAT_remove_command(master, cmd); |
|
1529 |
} |
|
1530 |
||
1531 |
if (desc->sm1) |
|
1532 |
{
|
|
1533 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1)) == NULL) |
|
1534 |
return -1; |
|
1535 |
||
1536 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1537 |
{
|
|
1538 |
EtherCAT_remove_command(master, cmd); |
|
1539 |
||
1540 |
return -1; |
|
1541 |
} |
|
1542 |
||
1543 |
if (cmd->working_counter != 1) |
|
1544 |
{
|
|
1545 |
EtherCAT_remove_command(master, cmd); |
|
1546 |
||
1547 |
EC_DBG(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n", |
|
1548 |
slave->station_address); |
|
1549 |
return -3; |
|
1550 |
} |
|
1551 |
||
1552 |
EtherCAT_remove_command(master, cmd); |
|
1553 |
} |
|
1554 |
} |
|
1555 |
||
1556 |
if (desc->sm2) |
|
1557 |
{
|
|
1558 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0810, 8, desc->sm2)) == NULL) |
|
1559 |
return -1; |
|
1560 |
||
1561 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1562 |
{
|
|
1563 |
EtherCAT_remove_command(master, cmd); |
|
1564 |
||
1565 |
return -1; |
|
1566 |
} |
|
1567 |
||
1568 |
if (cmd->working_counter != 1) |
|
1569 |
{
|
|
1570 |
EtherCAT_remove_command(master, cmd); |
|
1571 |
||
1572 |
EC_DBG(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not respond!\n", |
|
1573 |
slave->station_address); |
|
1574 |
return -3; |
|
1575 |
} |
|
1576 |
||
1577 |
EtherCAT_remove_command(master, cmd); |
|
1578 |
} |
|
1579 |
||
1580 |
if (desc->sm3) |
|
1581 |
{
|
|
1582 |
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0818, 8, desc->sm3)) == NULL) |
|
1583 |
return -1; |
|
1584 |
||
1585 |
if (EtherCAT_async_send_receive(master) < 0) |
|
1586 |
{
|
|
1587 |
EtherCAT_remove_command(master, cmd); |
|
1588 |
||
1589 |
return -1; |
|
1590 |
} |
|
1591 |
||
1592 |
if (cmd->working_counter != 1) |
|
1593 |
{
|
|
1594 |
EtherCAT_remove_command(master, cmd); |
|
1595 |
||
1596 |
EC_DBG(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not respond!\n", |
|
1597 |
slave->station_address); |
|
1598 |
return -3; |
|
1599 |
} |
|
1600 |
||
1601 |
EtherCAT_remove_command(master, cmd); |
|
1602 |
} |
|
1603 |
||
1604 |
// Change state to SAVEOP |
|
1605 |
if (EtherCAT_state_change(master, slave, ECAT_STATE_SAVEOP) != 0) |
|
1606 |
{
|
|
1607 |
return -12; |
|
1608 |
} |
|
1609 |
||
1610 |
// Change state to OP |
|
1611 |
if (EtherCAT_state_change(master, slave, ECAT_STATE_OP) != 0) |
|
1612 |
{
|
|
1613 |
return -13; |
|
1614 |
} |
|
1615 |
||
1616 |
return 0; |
|
1617 |
} |
|
1618 |
||
1619 |
/***************************************************************/ |
|
1620 |
||
1621 |
/** |
|
1622 |
Setzt einen Slave zurück in den Init-Zustand. |
|
1623 |
||
1624 |
@param master EtherCAT-Master |
|
1625 |
@param slave Zu deaktivierender Slave |
|
1626 |
||
1627 |
@return 0 bei Erfolg, sonst < 0 |
|
1628 |
*/ |
|
1629 |
||
1630 |
int EtherCAT_deactivate_slave(EtherCAT_master_t *master, |
|
1631 |
EtherCAT_slave_t *slave) |
|
1632 |
{
|
|
1633 |
if (EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0) |
|
1634 |
{
|
|
1635 |
return -1; |
|
1636 |
} |
|
1637 |
||
1638 |
return 0; |
|
1639 |
} |
|
1640 |
||
1641 |
/***************************************************************/ |
|
1642 |
||
1643 |
/** |
|
1644 |
Aktiviert alle Slaves. |
|
1645 |
||
1646 |
@see EtherCAT_activate_slave |
|
1647 |
||
1648 |
@param master EtherCAT-Master |
|
1649 |
||
1650 |
@return 0 bei Erfolg, sonst < 0 |
|
1651 |
*/ |
|
1652 |
||
1653 |
int EtherCAT_activate_all_slaves(EtherCAT_master_t *master) |
|
1654 |
{
|
|
1655 |
unsigned int i; |
|
1656 |
||
1657 |
for (i = 0; i < master->slave_count; i++) |
|
1658 |
{
|
|
1659 |
if (EtherCAT_activate_slave(master, &master->slaves[i]) < 0) |
|
1660 |
{
|
|
1661 |
return -1; |
|
1662 |
} |
|
1663 |
} |
|
1664 |
||
1665 |
return 0; |
|
1666 |
} |
|
1667 |
||
1668 |
/***************************************************************/ |
|
1669 |
||
1670 |
/** |
|
1671 |
Deaktiviert alle Slaves. |
|
1672 |
||
1673 |
@see EtherCAT_deactivate_slave |
|
1674 |
||
1675 |
@param master EtherCAT-Master |
|
1676 |
||
1677 |
@return 0 bei Erfolg, sonst < 0 |
|
1678 |
*/ |
|
1679 |
||
1680 |
int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *master) |
|
1681 |
{
|
|
1682 |
unsigned int i; |
|
1683 |
int ret = 0; |
|
1684 |
||
1685 |
for (i = 0; i < master->slave_count; i++) |
|
1686 |
{
|
|
1687 |
if (EtherCAT_deactivate_slave(master, &master->slaves[i]) < 0) |
|
1688 |
{
|
|
1689 |
ret = -1; |
|
1690 |
} |
|
1691 |
} |
|
1692 |
||
1693 |
return ret; |
|
1694 |
} |
|
1695 |
||
1696 |
/***************************************************************/ |
|
1697 |
||
1698 |
/** |
|
1699 |
Sendet alle Prozessdaten an die Slaves. |
|
1700 |
||
1701 |
Erstellt ein "logical read write"-Kommando mit den |
|
1702 |
Prozessdaten des Masters und sendet es an den Bus. |
|
1703 |
||
1704 |
@param master EtherCAT-Master |
|
1705 |
||
1706 |
@return 0 bei Erfolg, sonst < 0 |
|
1707 |
*/ |
|
1708 |
||
1709 |
int EtherCAT_write_process_data(EtherCAT_master_t *master) |
|
1710 |
{
|
|
1711 |
if (master->process_data_command) |
|
1712 |
{
|
|
1713 |
EtherCAT_remove_command(master, master->process_data_command); |
|
1714 |
EtherCAT_command_clear(master->process_data_command); |
|
1715 |
master->process_data_command = NULL; |
|
1716 |
} |
|
1717 |
||
1718 |
if ((master->process_data_command |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1719 |
= EtherCAT_logical_read_write(master, |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1720 |
0, master->process_data_length, |
| 0 | 1721 |
master->process_data)) == NULL) |
1722 |
{
|
|
1723 |
EC_DBG(KERN_ERR "EtherCAT: Could not allocate process data command!\n"); |
|
1724 |
return -1; |
|
1725 |
} |
|
1726 |
||
1727 |
if (EtherCAT_send(master) < 0) |
|
1728 |
{
|
|
1729 |
EtherCAT_remove_command(master, master->process_data_command); |
|
1730 |
EtherCAT_command_clear(master->process_data_command); |
|
1731 |
master->process_data_command = NULL; |
|
1732 |
EC_DBG(KERN_ERR "EtherCAT: Could not send process data command!\n"); |
|
1733 |
return -1; |
|
1734 |
} |
|
1735 |
||
1736 |
return 0; |
|
1737 |
} |
|
1738 |
||
1739 |
/***************************************************************/ |
|
1740 |
||
1741 |
/** |
|
1742 |
Empfängt alle Prozessdaten von den Slaves. |
|
1743 |
||
1744 |
Empfängt ein zuvor gesendetes "logical read write"-Kommando |
|
1745 |
und kopiert die empfangenen daten in den Prozessdatenspeicher |
|
1746 |
des Masters. |
|
1747 |
||
1748 |
@param master EtherCAT-Master |
|
1749 |
||
1750 |
@return 0 bei Erfolg, sonst < 0 |
|
1751 |
*/ |
|
1752 |
||
1753 |
int EtherCAT_read_process_data(EtherCAT_master_t *master) |
|
1754 |
{
|
|
1755 |
int ret = -1; |
|
1756 |
||
1757 |
if (!master->process_data_command) |
|
1758 |
{
|
|
1759 |
EC_DBG(KERN_WARNING "EtherCAT: No process data command available!\n"); |
|
1760 |
return -1; |
|
1761 |
} |
|
1762 |
||
1763 |
if (EtherCAT_receive(master) < 0) |
|
1764 |
{
|
|
1765 |
EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n"); |
|
1766 |
} |
|
1767 |
else if (master->process_data_command->state != ECAT_CS_RECEIVED) |
|
1768 |
{
|
|
1769 |
EC_DBG(KERN_WARNING "EtherCAT: Process data command not received!\n"); |
|
1770 |
} |
|
1771 |
else |
|
1772 |
{
|
|
1773 |
// Daten von Kommando in Prozessdaten des Master kopieren |
|
1774 |
memcpy(master->process_data, master->process_data_command->data, master->process_data_length); |
|
1775 |
ret = 0; |
|
1776 |
} |
|
1777 |
||
1778 |
EtherCAT_remove_command(master, master->process_data_command); |
|
1779 |
EtherCAT_command_clear(master->process_data_command); |
|
1780 |
master->process_data_command = NULL; |
|
1781 |
||
1782 |
return ret; |
|
1783 |
} |
|
1784 |
||
1785 |
/***************************************************************/ |
|
1786 |
||
1787 |
/** |
|
|
2
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1788 |
Verwirft ein zuvor gesendetes Prozessdatenkommando. |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1789 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1790 |
Diese Funktion sollte nach Ende des zyklischen Betriebes |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1791 |
aufgerufen werden, um das noch wartende Prozessdaten-Kommando |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1792 |
zu entfernen. |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1793 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1794 |
@param master EtherCAT-Master |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1795 |
*/ |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1796 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1797 |
void EtherCAT_clear_process_data(EtherCAT_master_t *master) |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1798 |
{
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1799 |
if (!master->process_data_command) return; |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1800 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1801 |
EtherCAT_remove_command(master, master->process_data_command); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1802 |
EtherCAT_command_clear(master->process_data_command); |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1803 |
master->process_data_command = NULL; |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1804 |
} |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1805 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1806 |
/***************************************************************/ |
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1807 |
|
|
b0a7a4745bf9
?nderungen an no_rtai r110:110 in drivers gemergt.
Florian Pose <fp@igh-essen.com>
parents:
0
diff
changeset
|
1808 |
/** |
| 0 | 1809 |
Setzt einen Byte-Wert im Speicher. |
1810 |
||
1811 |
@param data Startadresse |
|
1812 |
@param offset Byte-Offset |
|
1813 |
@param value Wert |
|
1814 |
*/ |
|
1815 |
||
1816 |
void set_byte(unsigned char *data, |
|
1817 |
unsigned int offset, |
|
1818 |
unsigned char value) |
|
1819 |
{
|
|
1820 |
data[offset] = value; |
|
1821 |
} |
|
1822 |
||
1823 |
/***************************************************************/ |
|
1824 |
||
1825 |
/** |
|
1826 |
Setzt einen Word-Wert im Speicher. |
|
1827 |
||
1828 |
@param data Startadresse |
|
1829 |
@param offset Byte-Offset |
|
1830 |
@param value Wert |
|
1831 |
*/ |
|
1832 |
||
1833 |
void set_word(unsigned char *data, |
|
1834 |
unsigned int offset, |
|
1835 |
unsigned int value) |
|
1836 |
{
|
|
1837 |
data[offset] = value & 0xFF; |
|
1838 |
data[offset + 1] = (value & 0xFF00) >> 8; |
|
1839 |
} |
|
1840 |
||
1841 |
/***************************************************************/ |