etherlabmaster: drivers/ec_master.c@db0742533c10 (annotated)

0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/****************************************************************
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* e c _ m a s t e r . c
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Methoden für einen EtherCAT-Master.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* $Date$
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	8	* $Author$
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	9	*
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	10	***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	11
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	12	#include <linux/kernel.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	13	#include <linux/string.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	14	#include <linux/slab.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	15	#include <linux/delay.h>
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	16
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	17	#include "ec_globals.h"
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	18	#include "ec_master.h"
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	19	#include "ec_dbg.h"
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	20
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	21	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	22
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	23	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	24	Konstruktor des EtherCAT-Masters.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	25
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	26	@param master Zeiger auf den zu initialisierenden
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	27	EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	28	@param dev Zeiger auf das EtherCAT-gerät, mit dem der
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	29	Master arbeiten soll
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	30
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	31	@return 0 bei Erfolg, sonst < 0 (= dev ist NULL)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	33
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	34	int EtherCAT_master_init(EtherCAT_master_t *master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	35	EtherCAT_device_t *dev)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	36	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	37	unsigned int i;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	38
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	39	if (!dev)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	40	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	41	EC_DBG(KERN_ERR "EtherCAT: Master init without device!\n");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	42	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	43	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	44
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	45	master->slaves = NULL;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	46	master->slave_count = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	47	master->first_command = NULL;
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	48	//master->process_data_command = NULL;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	49	master->dev = dev;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	50	master->command_index = 0x00;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	51	master->tx_data_length = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	52	master->process_data = NULL;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	53	master->process_data_length = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	54	master->cmd_ring_index = 0;
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	55	master->debug_level = 0;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	56
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	57	for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	58	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	59	EtherCAT_command_init(&master->cmd_ring[i]);
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	60	master->cmd_reserved[i] = 0;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	61	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	62
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	63	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	64	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	65
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	66	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	67
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	68	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	69	Destruktor eines EtherCAT-Masters.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	70
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	71	Entfernt alle Kommandos aus der Liste, löscht den Zeiger
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	72	auf das Slave-Array und gibt die Prozessdaten frei.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	73
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	74	@param master Zeiger auf den zu löschenden Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	75	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	76
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	77	void EtherCAT_master_clear(EtherCAT_master_t *master)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	78	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	79	#if 0
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	80	// Remove all pending commands
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	81	while (master->first_command)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	82	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	83	EtherCAT_remove_command(master, master->first_command);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	84	}
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	85	#endif
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	86
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	87	// Remove all slaves
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	88	EtherCAT_clear_slaves(master);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	89
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	90	if (master->process_data)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	91	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	92	kfree(master->process_data);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	93	master->process_data = NULL;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	94	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	95
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	96	master->process_data_length = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	97	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	98
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	99	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	100
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	101	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	102	Überprüft die angeschlossenen Slaves.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	103
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	104	Vergleicht die an den Bus angeschlossenen Slaves mit
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	105	den im statischen-Slave-Array vorgegebenen Konfigurationen.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	106	Stimmen Anzahl oder Typen nicht überein, gibt diese
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	107	Methode einen Fehler aus.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	108
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	109	@param master Der EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	110	@param slaves Zeiger auf ein statisches Slave-Array
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	111	@param slave_count Anzahl der Slaves im Array
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	112
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	113	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	114	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	115
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	116	int EtherCAT_check_slaves(EtherCAT_master_t *master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	117	EtherCAT_slave_t *slaves,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	118	unsigned int slave_count)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	119	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	120	EtherCAT_command_t cmd;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	121	EtherCAT_slave_t *cur;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	122	unsigned int i, j, found, length, pos;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	123	unsigned char data[2];
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	124
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	125	// EtherCAT_clear_slaves() must be called before!
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	126	if (master->slaves \|\| master->slave_count)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	127	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	128	EC_DBG(KERN_ERR "EtherCAT duplicate slave check!");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	129	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	130	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	131
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	132	// No slaves.
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	133	if (slave_count == 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	134	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	135	EC_DBG(KERN_ERR "EtherCAT: No slaves in list!");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	136	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	137	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	138
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	139	// Determine number of slaves on bus
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	140
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	141	EtherCAT_command_broadcast_read(&cmd, 0x0000, 4);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	142
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	143	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	144
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	145	if (cmd.working_counter != slave_count)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	146	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	147	EC_DBG(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n",
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	148	cmd.working_counter, slave_count);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	149	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	150	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	151	else
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	152	{
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	153	EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	154	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	155
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	156	// For every slave in the list
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	157	for (i = 0; i < slave_count; i++)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	158	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	159	cur = &slaves[i];
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	160
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	161	if (!cur->desc)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	162	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	163	EC_DBG(KERN_ERR "EtherCAT: Slave %i has no description.\n", i);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	164	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	165	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	166
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	167	// Set ring position
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	168	cur->ring_position = -i;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	169	cur->station_address = i + 1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	170
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	171	// Write station address
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	172
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	173	data[0] = cur->station_address & 0x00FF;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	174	data[1] = (cur->station_address & 0xFF00) >> 8;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	175
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	176	EtherCAT_command_position_write(&cmd, cur->ring_position, 0x0010, 2, data);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	177	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	178
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	179	if (cmd.working_counter != 1)
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	180	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	181	EC_DBG(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	182	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	183	}
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	184
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	185	// Read base data
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	186
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	187	EtherCAT_command_read(&cmd, cur->station_address, 0x0000, 4);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	188	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	189
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	190	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	191	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	192	EC_DBG(KERN_ERR "EtherCAT: Slave %i did not respond while reading base data!\n", i);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	193	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	194	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	195
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	196	// Get base data
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	197	cur->type = cmd.data[0];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	198	cur->revision = cmd.data[1];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	199	cur->build = cmd.data[2] \| (cmd.data[3] << 8);
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	200
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	201	// Read identification from "Slave Information Interface" (SII)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	202
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	203	if (EtherCAT_read_slave_information(master, cur->station_address,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	204	0x0008, &cur->vendor_id) != 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	205	{
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	206	EC_DBG(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	207	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	208	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	209
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	210	if (EtherCAT_read_slave_information(master, cur->station_address,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	211	0x000A, &cur->product_code) != 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	212	{
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	213	EC_DBG(KERN_ERR "EtherCAT: Could not read SII product code!\n");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	214	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	215	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	216
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	217	if (EtherCAT_read_slave_information(master, cur->station_address,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	218	0x000E, &cur->revision_number) != 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	219	{
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	220	EC_DBG(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	221	return -1;
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	222	}
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	223
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	224	if (EtherCAT_read_slave_information(master, cur->station_address,
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	225	0x0012, &cur->serial_number) != 0)
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	226	{
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	227	EC_DBG(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	228	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	229	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	230
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	231	// Search for identification in "database"
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	232
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	233	found = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	234
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	235	for (j = 0; j < slave_idents_count; j++)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	236	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	237	if (slave_idents[j].vendor_id == cur->vendor_id
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	238	&& slave_idents[j].product_code == cur->product_code)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	239	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	240	found = 1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	241
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	242	if (cur->desc != slave_idents[j].desc)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	243	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	244	EC_DBG(KERN_ERR "EtherCAT: Unexpected slave device \"%s %s\""
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	245	" at position %i. Expected: \"%s %s\"\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	246	slave_idents[j].desc->vendor_name,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	247	slave_idents[j].desc->product_name, i,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	248	cur->desc->vendor_name, cur->desc->product_name);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	249	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	250	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	251
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	252	break;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	253	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	254	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	255
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	256	if (!found)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	257	{
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	258	EC_DBG(KERN_ERR "EtherCAT: Unknown slave device"
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	259	" (vendor %X, code %X) at position %i.\n",
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	260	i, cur->vendor_id, cur->product_code);
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	261	return -1;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	262	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	263	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	264
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	265	length = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	266	for (i = 0; i < slave_count; i++)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	267	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	268	length += slaves[i].desc->data_length;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	269	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	270
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	271	if ((master->process_data = (unsigned char *)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	272	kmalloc(sizeof(unsigned char) * length, GFP_KERNEL)) == NULL)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	273	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	274	EC_DBG(KERN_ERR "EtherCAT: Could not allocate %i bytes for process data.\n", length);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	275	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	276	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	277
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	278	master->process_data_length = length;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	279	memset(master->process_data, 0x00, length);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	280
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	281	pos = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	282	for (i = 0; i < slave_count; i++)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	283	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	284	slaves[i].process_data = master->process_data + pos;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	285	slaves[i].logical_address0 = pos;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	286
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	287	EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n",
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	288	i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name,
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	289	slaves[i].serial_number);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	290
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	291	pos += slaves[i].desc->data_length;
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	292	}
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	293
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	294	master->slaves = slaves;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	295	master->slave_count = slave_count;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	296
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	297	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	298	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	299
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	300	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	301
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	302	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	303	Entfernt den Zeiger auf das Slave-Array.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	304
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	305	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	306	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	307
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	308	void EtherCAT_clear_slaves(EtherCAT_master_t *master)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	309	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	310	master->slaves = NULL;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	311	master->slave_count = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	312	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	313
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	314	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	315
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	316	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	317	Liest Daten aus dem Slave-Information-Interface
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	318	eines EtherCAT-Slaves.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	319
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	320	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	321	@param node_address Knotenadresse des Slaves
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	322	@param offset Adresse des zu lesenden SII-Registers
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	323	@param target Zeiger auf einen 4 Byte großen Speicher
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	324	zum Ablegen der Daten
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	325
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	326	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	327	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	328
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	329	int EtherCAT_read_slave_information(EtherCAT_master_t *master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	330	unsigned short int node_address,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	331	unsigned short int offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	332	unsigned int *target)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	333	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	334	EtherCAT_command_t cmd;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	335	unsigned char data[10];
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	336	unsigned int tries_left;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	337
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	338	// Initiate read operation
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	339
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	340	data[0] = 0x00;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	341	data[1] = 0x01;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	342	data[2] = offset & 0xFF;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	343	data[3] = (offset & 0xFF00) >> 8;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	344	data[4] = 0x00;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	345	data[5] = 0x00;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	346
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	347	EtherCAT_command_write(&cmd, node_address, 0x502, 6, data);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	348	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -3;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	349
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	350	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	351	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	352	EC_DBG(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	353	node_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	354	return -4;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	355	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	356
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	357	// Der Slave legt die Informationen des Slave-Information-Interface
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	358	// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	359	// den Status auslesen, bis das Bit weg ist.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	360
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	361	tries_left = 100;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	362	while (tries_left)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	363	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	364	udelay(10);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	365
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	366	EtherCAT_command_read(&cmd, node_address, 0x502, 10);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	367	if (EtherCAT_simple_send_receive(master, &cmd) != 0) return -3;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	368
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	369	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	370	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	371	EC_DBG(KERN_ERR "EtherCAT: SII-read status - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	372	node_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	373	return -4;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	374	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	375
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	376	if ((cmd.data[1] & 0x81) == 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	377	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	378	memcpy(target, cmd.data + 6, 4);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	379	break;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	380	}
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	381
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	382	tries_left--;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	383	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	384
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	385	if (!tries_left)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	386	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	387	EC_DBG(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	388	node_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	389	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	390	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	391
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	392	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	393	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	394
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	395	#if 0
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	396	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	397
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	398	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	399	Führt ein asynchrones Senden und Empfangen aus.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	400
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	401	Sendet alle wartenden Kommandos und wartet auf die
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	402	entsprechenden Antworten.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	403
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	404	@param master EtherCAT-Master
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	405
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	406	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	407	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	408
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	409	int EtherCAT_async_send_receive(EtherCAT_master_t *master)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	410	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	411	unsigned int wait_cycles;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	412	int i;
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	413
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	414	// Send all commands
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	415
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	416	for (i = 0; i < ECAT_NUM_RETRIES; i++)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	417	{
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	418	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	419	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	420	return -1;
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	421	}
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	422
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	423	// Wait until something is received or an error has occurred
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	424
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	425	wait_cycles = 10;
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	426	EtherCAT_device_call_isr(master->dev);
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	427
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	428	while (master->dev->state == ECAT_DS_SENT && wait_cycles)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	429	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	430	udelay(1000);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	431	wait_cycles--;
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	432	EtherCAT_device_call_isr(master->dev);
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	433	}
6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	434
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	435	//EC_DBG("Master async send: tries %d",tries_left);
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	436
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	437	if (!wait_cycles)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	438	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	439	EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	440	continue;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	441	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	442
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	443	if (master->dev->state != ECAT_DS_RECEIVED)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	444	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	445	EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	446	continue;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	447	}
5 6f2508af550c Alle ?nderungen aus den Branches no_rtai und no_int nach Trunk portiert. Florian Pose <fp@igh-essen.com> parents: 2 diff changeset	448
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	449	// Receive all commands
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	450	if (EtherCAT_receive(master) < 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	451	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	452	// Noch mal versuchen
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	453	master->dev->state = ECAT_DS_READY;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	454	EC_DBG("Retry Asynchronous send/recieve: %d", i);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	455	continue;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	456	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	457
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	458	return 0; // Erfolgreich
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	459	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	460
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	461	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	462	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	463
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	464	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	465
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	466	/**
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	467	Sendet alle wartenden Kommandos.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	468
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	469	Errechnet erst die benötigte Gesamt-Rahmenlänge, und erstellt
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	470	dann alle Kommando-Bytefolgen im statischen Sendespeicher.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	471	Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	472
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	473	@param master EtherCAT-Master
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	474
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	475	@return 0 bei Erfolg, sonst < 0
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	476	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	477
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	478	int EtherCAT_send(EtherCAT_master_t *master)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	479	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	480	unsigned int i, length, framelength, pos;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	481	EtherCAT_command_t *cmd;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	482	int cmdcnt = 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	483
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	484	if (master->debug_level > 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	485	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	486	EC_DBG(KERN_DEBUG "EtherCAT_send, first_command = %X\n", (int) master->first_command);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	487	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	488
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	489	length = 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	490	for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	491	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	492	if (cmd->state != ECAT_CS_READY) continue;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	493	length += cmd->data_length + 12;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	494	cmdcnt++;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	495	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	496
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	497	if (master->debug_level > 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	498	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	499	EC_DBG(KERN_DEBUG "%i commands to send.\n", cmdcnt);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	500	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	501
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	502	if (length == 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	503	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	504	EC_DBG(KERN_WARNING "EtherCAT: Nothing to send...\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	505	return 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	506	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	507
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	508	framelength = length + 2;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	509	if (framelength < 46) framelength = 46;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	510
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	511	if (master->debug_level > 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	512	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	513	EC_DBG(KERN_DEBUG "framelength: %i\n", framelength);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	514	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	515
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	516	master->tx_data[0] = length & 0xFF;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	517	master->tx_data[1] = ((length & 0x700) >> 8) \| 0x10;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	518	pos = 2;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	519
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	520	for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	521	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	522	if (cmd->state != ECAT_CS_READY) continue;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	523
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	524	cmd->index = master->command_index;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	525	master->command_index = (master->command_index + 1) % 0x0100;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	526
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	527	if (master->debug_level > 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	528	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	529	EC_DBG(KERN_DEBUG "Sending command index %i\n", cmd->index);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	530	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	531
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	532	cmd->state = ECAT_CS_SENT;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	533
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	534	master->tx_data[pos + 0] = cmd->type;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	535	master->tx_data[pos + 1] = cmd->index;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	536
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	537	master->tx_data[pos + 2] = cmd->address.raw[0];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	538	master->tx_data[pos + 3] = cmd->address.raw[1];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	539	master->tx_data[pos + 4] = cmd->address.raw[2];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	540	master->tx_data[pos + 5] = cmd->address.raw[3];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	541
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	542	master->tx_data[pos + 6] = cmd->data_length & 0xFF;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	543	master->tx_data[pos + 7] = (cmd->data_length & 0x700) >> 8;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	544
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	545	if (cmd->next) master->tx_data[pos + 7] \|= 0x80;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	546
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	547	master->tx_data[pos + 8] = 0x00;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	548	master->tx_data[pos + 9] = 0x00;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	549
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	550	if (cmd->type == ECAT_CMD_APWR
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	551	\|\| cmd->type == ECAT_CMD_NPWR
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	552	\|\| cmd->type == ECAT_CMD_BWR
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	553	\|\| cmd->type == ECAT_CMD_LRW) // Write
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	554	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	555	for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = cmd->data[i];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	556	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	557	else // Read
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	558	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	559	for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = 0x00;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	560	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	561
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	562	master->tx_data[pos + 10 + cmd->data_length] = 0x00;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	563	master->tx_data[pos + 11 + cmd->data_length] = 0x00;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	564
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	565	pos += 12 + cmd->data_length;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	566	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	567
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	568	// Pad with zeros
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	569	while (pos < 46) master->tx_data[pos++] = 0x00;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	570
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	571	master->tx_data_length = framelength;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	572
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	573	#ifdef DEBUG_SEND_RECEIVE
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	574	EC_DBG(KERN_DEBUG "\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	575	EC_DBG(KERN_DEBUG ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	576	EC_DBG(KERN_DEBUG);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	577	for (i = 0; i < framelength; i++)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	578	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	579	EC_DBG("%02X ", master->tx_data[i]);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	580
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	581	if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	582	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	583	EC_DBG("\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	584	EC_DBG(KERN_DEBUG "-----------------------------------------------\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	585	#endif
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	586
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	587	if (master->debug_level > 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	588	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	589	EC_DBG(KERN_DEBUG "device send...\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	590	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	591
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	592	// Send frame
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	593	if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	594	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	595	EC_DBG(KERN_ERR "EtherCAT: Could not send!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	596	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	597	output_debug_data(master->tx_data, framelength);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	598	return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	599	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	600
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	601	if (master->debug_level > 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	602	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	603	EC_DBG(KERN_DEBUG "EtherCAT_send done.\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	604	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	605
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	606	return 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	607	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	608
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	609	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	610
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	611	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	612	Holt alle empfangenen Kommandos vom EtherCAT-Gerät.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	613
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	614	Kopiert einen empfangenen Rahmen vom EtherCAT-Gerät
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	615	in den Statischen Empfangsspeicher und ordnet dann
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	616	allen gesendeten Kommandos ihre Antworten zu.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	617
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	618	@param master EtherCAT-Master
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	619
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	620	@return 0 bei Erfolg, sonst < 0
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	621	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	622
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	623	int EtherCAT_receive(EtherCAT_master_t *master)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	624	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	625	EtherCAT_command_t *cmd;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	626	unsigned int length, pos, found, rx_data_length;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	627	unsigned int command_follows, command_type, command_index;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	628
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	629	// Copy received data into master buffer (with locking)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	630	rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	631	ECAT_FRAME_BUFFER_SIZE);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	632
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	633	#ifdef DEBUG_SEND_RECEIVE
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	634	for (i = 0; i < rx_data_length; i++)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	635	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	636	if (master->rx_data[i] == master->tx_data[i]) EC_DBG(" ");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	637	else EC_DBG("%02X ", master->rx_data[i]);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	638	if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	639	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	640	EC_DBG("\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	641	EC_DBG(KERN_DEBUG "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	642	EC_DBG(KERN_DEBUG "\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	643	#endif
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	644
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	645	if (rx_data_length < 2)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	646	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	647	EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (illegal length)!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	648	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	649	output_debug_data(master->tx_data, master->tx_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	650	EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	651	output_debug_data(master->rx_data, rx_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	652	return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	653	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	654
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	655	// Länge des gesamten Frames prüfen
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	656	length = ((master->rx_data[1] & 0x07) << 8) \| (master->rx_data[0] & 0xFF);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	657
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	658	if (length > rx_data_length)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	659	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	660	EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	661	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	662	output_debug_data(master->tx_data, master->tx_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	663	EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	664	output_debug_data(master->rx_data, rx_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	665	return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	666	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	667
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	668	pos = 2; // LibPCAP: 16
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	669	command_follows = 1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	670	while (command_follows)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	671	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	672	if (pos + 10 > rx_data_length)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	673	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	674	EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command header!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	675	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	676	output_debug_data(master->tx_data, master->tx_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	677	EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	678	output_debug_data(master->rx_data, rx_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	679	return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	680	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	681
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	682	command_type = master->rx_data[pos];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	683	command_index = master->rx_data[pos + 1];
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	684	length = (master->rx_data[pos + 6] & 0xFF)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	685	\| ((master->rx_data[pos + 7] & 0x07) << 8);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	686	command_follows = master->rx_data[pos + 7] & 0x80;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	687
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	688	if (pos + length + 12 > rx_data_length)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	689	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	690	EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	691	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	692	output_debug_data(master->tx_data, master->tx_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	693	EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	694	output_debug_data(master->rx_data, rx_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	695	return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	696	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	697
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	698	found = 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	699
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	700	for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	701	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	702	if (cmd->state == ECAT_CS_SENT
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	703	&& cmd->type == command_type
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	704	&& cmd->index == command_index
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	705	&& cmd->data_length == length)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	706	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	707	found = 1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	708	cmd->state = ECAT_CS_RECEIVED;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	709
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	710	// Empfangene Daten in Kommandodatenspeicher kopieren
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	711	memcpy(cmd->data, master->rx_data + pos + 10, length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	712
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	713	// Working-Counter setzen
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	714	cmd->working_counter = (master->rx_data[pos + length + 10] & 0xFF)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	715	\| ((master->rx_data[pos + length + 11] & 0xFF) << 8);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	716	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	717	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	718
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	719	if (!found)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	720	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	721	EC_DBG(KERN_WARNING "EtherCAT: WARNING - Command not assigned!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	722	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	723
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	724	pos += length + 12;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	725	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	726
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	727	for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	728	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	729	if (cmd->state == ECAT_CS_SENT)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	730	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	731	EC_DBG(KERN_WARNING "EtherCAT: WARNING - One command received no response!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	732	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	733	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	734
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	735	master->dev->state = ECAT_DS_READY;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	736
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	737	return 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	738	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	739	#endif
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	740
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	741	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	742
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	743	/**
11 e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	744	Sendet ein einzelnes Kommando in einem Frame und
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	745	wartet auf dessen Empfang.
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	746
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	747	@param master EtherCAT-Master
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	748	@param cmd Kommando zum Senden/Empfangen
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	749
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	750	@return 0 bei Erfolg, sonst < 0
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	751	*/
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	752
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	753	int EtherCAT_simple_send_receive(EtherCAT_master_t *master,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	754	EtherCAT_command_t *cmd)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	755	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	756	unsigned int tries_left;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	757
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	758	if (EtherCAT_simple_send(master, cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	759
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	760	tries_left = 100;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	761	while (cmd->state == ECAT_CS_SENT && tries_left)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	762	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	763	udelay(10);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	764	EtherCAT_device_call_isr(master->dev);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	765	tries_left--;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	766	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	767
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	768	if (EtherCAT_simple_receive(master, cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	769
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	770	return 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	771	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	772
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	773	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	774
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	775	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	776	Sendet ein einzelnes Kommando in einem Frame.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	777
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	778	@param master EtherCAT-Master
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	779	@param cmd Kommando zum Senden
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	780
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	781	@return 0 bei Erfolg, sonst < 0
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	782	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	783
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	784	int EtherCAT_simple_send(EtherCAT_master_t *master,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	785	EtherCAT_command_t *cmd)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	786	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	787	unsigned int length, framelength, i;
11 e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	788
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	789	if (master->debug_level > 0)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	790	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	791	EC_DBG(KERN_DEBUG "EtherCAT_send_receive_command\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	792	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	793
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	794	if (cmd->state != ECAT_CS_READY)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	795	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	796	EC_DBG(KERN_WARNING "EtherCAT_send_receive_command: Command not in ready state!\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	797	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	798
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	799	length = cmd->data_length + 12;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	800	framelength = length + 2;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	801	if (framelength < 46) framelength = 46;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	802
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	803	if (master->debug_level > 0)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	804	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	805	EC_DBG(KERN_DEBUG "Frame length: %i\n", framelength);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	806	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	807
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	808	master->tx_data[0] = length & 0xFF;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	809	master->tx_data[1] = ((length & 0x700) >> 8) \| 0x10;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	810
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	811	cmd->index = master->command_index;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	812	master->command_index = (master->command_index + 1) % 0x0100;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	813
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	814	if (master->debug_level > 0)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	815	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	816	EC_DBG(KERN_DEBUG "Sending command index %i\n", cmd->index);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	817	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	818
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	819	cmd->state = ECAT_CS_SENT;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	820
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	821	master->tx_data[2 + 0] = cmd->type;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	822	master->tx_data[2 + 1] = cmd->index;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	823	master->tx_data[2 + 2] = cmd->address.raw[0];
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	824	master->tx_data[2 + 3] = cmd->address.raw[1];
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	825	master->tx_data[2 + 4] = cmd->address.raw[2];
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	826	master->tx_data[2 + 5] = cmd->address.raw[3];
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	827	master->tx_data[2 + 6] = cmd->data_length & 0xFF;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	828	master->tx_data[2 + 7] = (cmd->data_length & 0x700) >> 8;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	829	master->tx_data[2 + 8] = 0x00;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	830	master->tx_data[2 + 9] = 0x00;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	831
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	832	if (cmd->type == ECAT_CMD_APWR
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	833	\|\| cmd->type == ECAT_CMD_NPWR
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	834	\|\| cmd->type == ECAT_CMD_BWR
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	835	\|\| cmd->type == ECAT_CMD_LRW) // Write
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	836	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	837	for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = cmd->data[i];
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	838	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	839	else // Read
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	840	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	841	for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = 0x00;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	842	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	843
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	844	master->tx_data[2 + 10 + cmd->data_length] = 0x00;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	845	master->tx_data[2 + 11 + cmd->data_length] = 0x00;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	846
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	847	// Pad with zeros
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	848	for (i = cmd->data_length + 12 + 2; i < 46; i++) master->tx_data[i] = 0x00;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	849
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	850	master->tx_data_length = framelength;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	851
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	852	if (master->debug_level > 0)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	853	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	854	EC_DBG(KERN_DEBUG "device send...\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	855	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	856
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	857	// Send frame
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	858	if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	859	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	860	EC_DBG(KERN_ERR "EtherCAT: Could not send!\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	861	return -1;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	862	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	863
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	864	if (master->debug_level > 0)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	865	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	866	EC_DBG(KERN_DEBUG "EtherCAT_send done.\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	867	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	868
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	869	return 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	870	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	871
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	872	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	873
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	874	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	875	Wartet auf den Empfang eines einzeln gesendeten
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	876	Kommandos.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	877
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	878	@param master EtherCAT-Master
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	879	@param cmd Gesendetes Kommando
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	880
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	881	@return 0 bei Erfolg, sonst < 0
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	882	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	883
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	884	int EtherCAT_simple_receive(EtherCAT_master_t *master,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	885	EtherCAT_command_t *cmd)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	886	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	887	unsigned int rx_data_length, length;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	888	unsigned char command_type, command_index;
11 e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	889
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	890	rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	891	ECAT_FRAME_BUFFER_SIZE);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	892
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	893	if (rx_data_length < 2)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	894	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	895	EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT header!\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	896	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	897	output_debug_data(master->tx_data, master->tx_data_length);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	898	EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	899	output_debug_data(master->rx_data, rx_data_length);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	900	return -1;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	901	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	902
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	903	// Länge des gesamten Frames prüfen
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	904	length = ((master->rx_data[1] & 0x07) << 8) \| (master->rx_data[0] & 0xFF);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	905
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	906	if (length > rx_data_length)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	907	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	908	EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	909	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	910	output_debug_data(master->tx_data, master->tx_data_length);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	911	EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	912	output_debug_data(master->rx_data, rx_data_length);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	913	return -1;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	914	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	915
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	916	command_type = master->rx_data[2];
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	917	command_index = master->rx_data[2 + 1];
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	918	length = (master->rx_data[2 + 6] & 0xFF) \| ((master->rx_data[2 + 7] & 0x07) << 8);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	919
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	920	if (rx_data_length - 2 < length + 12)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	921	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	922	EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	923	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	924	output_debug_data(master->tx_data, master->tx_data_length);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	925	EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	926	output_debug_data(master->rx_data, rx_data_length);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	927	return -1;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	928	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	929
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	930	if (cmd->state == ECAT_CS_SENT
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	931	&& cmd->type == command_type
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	932	&& cmd->index == command_index
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	933	&& cmd->data_length == length)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	934	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	935	cmd->state = ECAT_CS_RECEIVED;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	936
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	937	// Empfangene Daten in Kommandodatenspeicher kopieren
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	938	memcpy(cmd->data, master->rx_data + 2 + 10, length);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	939
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	940	// Working-Counter setzen
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	941	cmd->working_counter = ((master->rx_data[length + 2 + 10] & 0xFF)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	942	\| ((master->rx_data[length + 2 + 11] & 0xFF) << 8));
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	943	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	944	else
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	945	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	946	EC_DBG(KERN_WARNING "EtherCAT: WARNING - Send/Receive anomaly!\n");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	947	EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
11 e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	948	output_debug_data(master->tx_data, master->tx_data_length);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	949	EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
11 e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	950	output_debug_data(master->rx_data, rx_data_length);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	951	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	952
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	953	master->dev->state = ECAT_DS_READY;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	954
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	955	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	956	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	957
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	958	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	959
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	960	#if 0
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	961
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	962	#define ECAT_FUNC_HEADER \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	963	EtherCAT_command_t *cmd; \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	964	if ((cmd = alloc_cmd(master)) == NULL) \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	965	{ \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	966	EC_DBG(KERN_ERR "EtherCAT: Out of memory while creating command!\n"); \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	967	return NULL; \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	968	} \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	969	EtherCAT_command_init(cmd)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	970
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	971	#define ECAT_FUNC_WRITE_FOOTER \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	972	cmd->data_length = length; \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	973	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	974	if (add_command(master, cmd) < 0) return NULL; \
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	975	return cmd
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	976
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	977	#define ECAT_FUNC_READ_FOOTER \
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	978	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	979	if (add_command(master, cmd) < 0) return NULL; \
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	980	return cmd
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	981
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	982	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	983
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	984	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	985	Erstellt ein EtherCAT-NPRD-Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	986
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	987	Alloziert ein "node-adressed physical read"-Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	988	und fügt es in die Liste des Masters ein.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	989
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	990	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	991	@param node_address Adresse des Knotens (Slaves)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	992	@param offset Physikalische Speicheradresse im Slave
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	993	@param length Länge der zu lesenden Daten
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	994
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	995	@return Adresse des Kommandos bei Erfolg, sonst NULL
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	996	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	997
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	998	EtherCAT_command_t EtherCAT_read(EtherCAT_master_t master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	999	unsigned short node_address,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1000	unsigned short offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1001	unsigned int length)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1002	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1003	if (node_address == 0x0000)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1004	EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1005
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1006	ECAT_FUNC_HEADER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1007
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1008	cmd->type = ECAT_CMD_NPRD;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1009	cmd->address.phy.dev.node = node_address;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1010	cmd->address.phy.mem = offset;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1011
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1012	ECAT_FUNC_READ_FOOTER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1013	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1014
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1015	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1016
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1017	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1018	Erstellt ein EtherCAT-NPWR-Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1019
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1020	Alloziert ein "node-adressed physical write"-Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1021	und fügt es in die Liste des Masters ein.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1022
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1023	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1024	@param node_address Adresse des Knotens (Slaves)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1025	@param offset Physikalische Speicheradresse im Slave
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1026	@param length Länge der zu schreibenden Daten
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1027	@param data Zeiger auf Speicher mit zu schreibenden Daten
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1028
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1029	@return Adresse des Kommandos bei Erfolg, sonst NULL
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1030	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1031
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1032	EtherCAT_command_t EtherCAT_write(EtherCAT_master_t master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1033	unsigned short node_address,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1034	unsigned short offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1035	unsigned int length,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1036	const unsigned char *data)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1037	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1038	if (node_address == 0x0000)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1039	EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1040
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1041	ECAT_FUNC_HEADER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1042
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1043	cmd->type = ECAT_CMD_NPWR;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1044	cmd->address.phy.dev.node = node_address;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1045	cmd->address.phy.mem = offset;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1046
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1047	ECAT_FUNC_WRITE_FOOTER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1048	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1049
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1050	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1051
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1052	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1053	Erstellt ein EtherCAT-APRD-Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1054
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1055	Alloziert ein "autoincerement physical read"-Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1056	und fügt es in die Liste des Masters ein.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1057
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1058	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1059	@param ring_position (Negative) Position des Slaves im Bus
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1060	@param offset Physikalische Speicheradresse im Slave
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1061	@param length Länge der zu lesenden Daten
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1062
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1063	@return Adresse des Kommandos bei Erfolg, sonst NULL
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1064	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1065
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1066	EtherCAT_command_t EtherCAT_position_read(EtherCAT_master_t master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1067	short ring_position,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1068	unsigned short offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1069	unsigned int length)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1070	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1071	ECAT_FUNC_HEADER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1072
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1073	cmd->type = ECAT_CMD_APRD;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1074	cmd->address.phy.dev.pos = ring_position;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1075	cmd->address.phy.mem = offset;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1076
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1077	ECAT_FUNC_READ_FOOTER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1078	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1079
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1080	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1081
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1082	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1083	Erstellt ein EtherCAT-APWR-Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1084
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1085	Alloziert ein "autoincrement physical write"-Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1086	und fügt es in die Liste des Masters ein.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1087
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1088	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1089	@param ring_position (Negative) Position des Slaves im Bus
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1090	@param offset Physikalische Speicheradresse im Slave
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1091	@param length Länge der zu schreibenden Daten
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1092	@param data Zeiger auf Speicher mit zu schreibenden Daten
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1093
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1094	@return Adresse des Kommandos bei Erfolg, sonst NULL
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1095	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1096
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1097	EtherCAT_command_t EtherCAT_position_write(EtherCAT_master_t master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1098	short ring_position,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1099	unsigned short offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1100	unsigned int length,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1101	const unsigned char *data)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1102	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1103	ECAT_FUNC_HEADER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1104
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1105	cmd->type = ECAT_CMD_APWR;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1106	cmd->address.phy.dev.pos = ring_position;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1107	cmd->address.phy.mem = offset;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1108
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1109	ECAT_FUNC_WRITE_FOOTER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1110	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1111
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1112	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1113
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1114	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1115	Erstellt ein EtherCAT-BRD-Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1116
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1117	Alloziert ein "broadcast read"-Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1118	und fügt es in die Liste des Masters ein.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1119
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1120	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1121	@param offset Physikalische Speicheradresse im Slave
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1122	@param length Länge der zu lesenden Daten
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1123
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1124	@return Adresse des Kommandos bei Erfolg, sonst NULL
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1125	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1126
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1127	EtherCAT_command_t EtherCAT_broadcast_read(EtherCAT_master_t master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1128	unsigned short offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1129	unsigned int length)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1130	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1131	ECAT_FUNC_HEADER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1132
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1133	cmd->type = ECAT_CMD_BRD;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1134	cmd->address.phy.dev.node = 0x0000;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1135	cmd->address.phy.mem = offset;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1136
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1137	ECAT_FUNC_READ_FOOTER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1138	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1139
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1140	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1141
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1142	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1143	Erstellt ein EtherCAT-BWR-Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1144
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1145	Alloziert ein "broadcast write"-Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1146	und fügt es in die Liste des Masters ein.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1147
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1148	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1149	@param offset Physikalische Speicheradresse im Slave
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1150	@param length Länge der zu schreibenden Daten
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1151	@param data Zeiger auf Speicher mit zu schreibenden Daten
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1152
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1153	@return Adresse des Kommandos bei Erfolg, sonst NULL
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1154	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1155
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1156	EtherCAT_command_t EtherCAT_broadcast_write(EtherCAT_master_t master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1157	unsigned short offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1158	unsigned int length,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1159	const unsigned char *data)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1160	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1161	ECAT_FUNC_HEADER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1162
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1163	cmd->type = ECAT_CMD_BWR;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1164	cmd->address.phy.dev.node = 0x0000;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1165	cmd->address.phy.mem = offset;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1166
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1167	ECAT_FUNC_WRITE_FOOTER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1168	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1169
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1170	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1171
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1172	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1173	Erstellt ein EtherCAT-LRW-Kommando.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1174
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1175	Alloziert ein "logical read write"-Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1176	und fügt es in die Liste des Masters ein.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1177
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1178	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1179	@param offset Logische Speicheradresse
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1180	@param length Länge der zu lesenden/schreibenden Daten
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1181	@param data Zeiger auf Speicher mit zu lesenden/schreibenden Daten
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1182
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1183	@return Adresse des Kommandos bei Erfolg, sonst NULL
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1184	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1185
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1186	EtherCAT_command_t EtherCAT_logical_read_write(EtherCAT_master_t master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1187	unsigned int offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1188	unsigned int length,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1189	unsigned char *data)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1190	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1191	ECAT_FUNC_HEADER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1192
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1193	cmd->type = ECAT_CMD_LRW;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1194	cmd->address.logical = offset;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1195
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1196	ECAT_FUNC_WRITE_FOOTER;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1197	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1198
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1199	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1200
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1201	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1202	Alloziert ein neues Kommando aus dem Kommandoring.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1203
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1204	Durchsucht den Kommandoring nach einem freien Kommando,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1205	reserviert es und gibt dessen Adresse zurück.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1206
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1207	@param master EtherCAT-Master
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1208
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1209	@return Adresse des Kommandos bei Erfolg, sonst NULL
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1210	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1211
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1212	EtherCAT_command_t alloc_cmd(EtherCAT_master_t master)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1213	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1214	int j;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1215
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1216	for (j = 0; j < ECAT_COMMAND_RING_SIZE; j++) // Einmal rum suchen
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1217	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1218	// 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	1219	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	1220	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1221	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	1222
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1223	if (master->debug_level)
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1224	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1225	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	1226	master->cmd_ring_index,
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1227	(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	1228	}
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1229
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1230	return &master->cmd_ring[master->cmd_ring_index];
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1231	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1232
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1233	if (master->debug_level)
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1234	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1235	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	1236	master->cmd_ring_index,
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1237	(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	1238	}
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1239
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1240	master->cmd_ring_index++;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1241	master->cmd_ring_index %= ECAT_COMMAND_RING_SIZE;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1242	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1243
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1244	EC_DBG(KERN_WARNING "EtherCAT: Command ring full!\n");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1245
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1246	return NULL; // Nix gefunden
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1247	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1248
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1249	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1250
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1251	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1252	Fügt ein Kommando in die Liste des Masters ein.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1253
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1254	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1255	@param cmd Zeiger auf das einzufügende Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1256	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1257
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1258	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	1259	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	1260	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1261	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	1262
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1263	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	1264	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1265	if (cmd == new_cmd)
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1266	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1267	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	1268	" 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	1269	return -1;
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1270	}
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1271	}
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1272
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1273	// Find the address of the last pointer in the list
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1274	last_cmd = &(master->first_command);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1275	while (last_cmd) last_cmd = &(last_cmd)->next;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1276
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1277	// 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	1278	*last_cmd = new_cmd;
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1279
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1280	return 0;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1281	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1282
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1283	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1284
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1285	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1286	Entfernt ein Kommando aus der Liste und gibt es frei.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1287
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1288	Prüft erst, ob das Kommando in der Liste des Masters
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1289	ist. Wenn ja, wird es entfernt und die Reservierung wird
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1290	aufgehoben.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1291
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1292	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1293	@param rem_cmd Zeiger auf das zu entfernende Kommando
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1294
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1295	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1296	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1297
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1298	void EtherCAT_remove_command(EtherCAT_master_t *master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1299	EtherCAT_command_t *rem_cmd)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1300	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1301	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	1302	int i;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1303
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1304	last_cmd = &master->first_command;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1305	while (*last_cmd)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1306	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1307	if (*last_cmd == rem_cmd)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1308	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1309	*last_cmd = rem_cmd->next;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1310	EtherCAT_command_clear(rem_cmd);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1311
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1312	// Reservierung des Kommandos aufheben
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1313	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	1314	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1315	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	1316	{
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1317	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	1318	return;
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1319	}
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1320	}
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1321
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1322	EC_DBG(KERN_WARNING "EtherCAT: Could not remove command reservation!\n");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1323	return;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1324	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1325
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1326	last_cmd = &(*last_cmd)->next;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1327	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1328
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1329	EC_DBG(KERN_WARNING "EtherCAT: Trying to remove non-existent command!\n");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1330	}
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1331	#endif
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1332
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1333	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1334
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1335	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1336	Ändert den Zustand eines Slaves (asynchron).
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1337
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1338	Führt eine (asynchrone) Zustandsänderung bei einem Slave durch.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1339
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1340	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1341	@param slave Slave, dessen Zustand geändert werden soll
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1342	@param state_and_ack Neuer Zustand, evtl. mit gesetztem
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1343	Acknowledge-Flag
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1344
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1345	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1346	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1347
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1348	int EtherCAT_state_change(EtherCAT_master_t *master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1349	EtherCAT_slave_t *slave,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1350	unsigned char state_and_ack)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1351	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1352	EtherCAT_command_t cmd;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1353	unsigned char data[2];
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1354	unsigned int tries_left;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1355
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1356	data[0] = state_and_ack;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1357	data[1] = 0x00;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1358
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1359	EtherCAT_command_write(&cmd, slave->station_address, 0x0120, 2, data);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1360
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1361	if (EtherCAT_simple_send_receive(master, &cmd) != 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1362	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1363	EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n", state_and_ack);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1364	return -2;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1365	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1366
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1367	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1368	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1369	EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Device did not respond!\n", state_and_ack);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1370	return -3;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1371	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1372
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1373	slave->requested_state = state_and_ack & 0x0F;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1374
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1375	tries_left = 100;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1376	while (tries_left)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1377	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1378	udelay(10);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1379
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1380	EtherCAT_command_read(&cmd, slave->station_address, 0x0130, 2);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1381
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1382	if (EtherCAT_simple_send_receive(master, &cmd) != 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1383	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1384	EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Unable to send!\n", state_and_ack);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1385	return -2;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1386	}
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1387
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1388	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1389	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1390	EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Device did not respond!\n", state_and_ack);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1391	return -3;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1392	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1393
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1394	if (cmd.data[0] & 0x10) // State change error
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1395	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1396	EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Device refused state change (code %02X)!\n", state_and_ack, cmd.data[0]);
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1397	return -4;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1398	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1399
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1400	if (cmd.data[0] == (state_and_ack & 0x0F)) // State change successful
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1401	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1402	break;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1403	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1404
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1405	tries_left--;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1406	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1407
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1408	if (!tries_left)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1409	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1410	EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while checking!\n", state_and_ack);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1411	return -5;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1412	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1413
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1414	slave->current_state = state_and_ack & 0x0F;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1415
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1416	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1417	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1418
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1419	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1420
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1421	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1422	Konfiguriert einen Slave und setzt den Operational-Zustand.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1423
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1424	Führt eine komplette Konfiguration eines Slaves durch,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1425	setzt Sync-Manager und FMMU's, führt die entsprechenden
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1426	Zustandsübergänge durch, bis der Slave betriebsbereit ist.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1427
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1428	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1429	@param slave Zu aktivierender Slave
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1430
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1431	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1432	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1433
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1434	int EtherCAT_activate_slave(EtherCAT_master_t *master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1435	EtherCAT_slave_t *slave)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1436	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1437	EtherCAT_command_t cmd;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1438	const EtherCAT_slave_desc_t *desc;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1439	unsigned char fmmu[16];
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1440	unsigned char data[256];
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1441
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1442	desc = slave->desc;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1443
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1444	if (EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1445	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1446	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1447	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1448
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1449	// Resetting FMMU's
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1450
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1451	memset(data, 0x00, 256);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1452
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1453	EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 256, data);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1454
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1455	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1456
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1457	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1458	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1459	EC_DBG(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1460	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1461	return -2;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1462	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1463
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1464	// Resetting Sync Manager channels
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1465
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1466	if (desc->type != ECAT_ST_SIMPLE_NOSYNC)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1467	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1468	memset(data, 0x00, 256);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1469
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1470	EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 256, data);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1471	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1472
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1473	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1474	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1475	EC_DBG(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1476	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1477	return -2;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1478	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1479	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1480
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1481	// Init Mailbox communication
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1482
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1483	if (desc->type == ECAT_ST_MAILBOX)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1484	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1485	if (desc->sm0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1486	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1487	EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8, desc->sm0);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1488	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1489
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1490	if (cmd.working_counter != 1)
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1491	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1492	EC_DBG(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1493	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1494	return -3;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1495	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1496	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1497
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1498	if (desc->sm1)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1499	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1500	EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8, desc->sm1);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1501	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1502
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1503	if (cmd.working_counter != 1)
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1504	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1505	EC_DBG(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1506	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1507	return -2;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1508	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1509	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1510	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1511
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1512	// Change state to PREOP
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1513
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1514	if (EtherCAT_state_change(master, slave, ECAT_STATE_PREOP) != 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1515	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1516	return -5;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1517	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1518
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1519	// Set FMMU's
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1520
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1521	if (desc->fmmu0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1522	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1523	memcpy(fmmu, desc->fmmu0, 16);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1524
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1525	fmmu[0] = slave->logical_address0 & 0x000000FF;
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1526	fmmu[1] = (slave->logical_address0 & 0x0000FF00) >> 8;
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1527	fmmu[2] = (slave->logical_address0 & 0x00FF0000) >> 16;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1528	fmmu[3] = (slave->logical_address0 & 0xFF000000) >> 24;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1529
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1530	EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 16, fmmu);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1531	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1532
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1533	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1534	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1535	EC_DBG(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1536	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1537	return -2;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1538	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1539	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1540
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1541	// Set Sync Managers
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1542
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1543	if (desc->type != ECAT_ST_MAILBOX)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1544	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1545	if (desc->sm0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1546	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1547	EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8, desc->sm0);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1548	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1549
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1550	if (cmd.working_counter != 1)
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1551	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1552	EC_DBG(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1553	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1554	return -3;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1555	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1556	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1557
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1558	if (desc->sm1)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1559	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1560	EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8, desc->sm1);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1561	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1562
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1563	if (cmd.working_counter != 1)
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1564	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1565	EC_DBG(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1566	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1567	return -3;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1568	}
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1569	}
f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1570	}
f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1571
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1572	if (desc->sm2)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1573	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1574	EtherCAT_command_write(&cmd, slave->station_address, 0x0810, 8, desc->sm2);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1575	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1576
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1577	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1578	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1579	EC_DBG(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1580	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1581	return -3;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1582	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1583	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1584
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1585	if (desc->sm3)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1586	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1587	EtherCAT_command_write(&cmd, slave->station_address, 0x0818, 8, desc->sm3);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1588	if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1589
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1590	if (cmd.working_counter != 1)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1591	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1592	EC_DBG(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not respond!\n",
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1593	slave->station_address);
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1594	return -3;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1595	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1596	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1597
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1598	// Change state to SAVEOP
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1599	if (EtherCAT_state_change(master, slave, ECAT_STATE_SAVEOP) != 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1600	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1601	return -12;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1602	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1603
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1604	// Change state to OP
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1605	if (EtherCAT_state_change(master, slave, ECAT_STATE_OP) != 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1606	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1607	return -13;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1608	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1609
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1610	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1611	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1612
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1613	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1614
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1615	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1616	Setzt einen Slave zurück in den Init-Zustand.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1617
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1618	@param master EtherCAT-Master
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1619	@param slave Zu deaktivierender Slave
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1620
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1621	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1622	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1623
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1624	int EtherCAT_deactivate_slave(EtherCAT_master_t *master,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1625	EtherCAT_slave_t *slave)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1626	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1627	if (EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1628	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1629	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1630	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1631
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1632	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1633	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1634
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1635	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1636
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1637	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1638	Aktiviert alle Slaves.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1639
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1640	@see EtherCAT_activate_slave
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1641
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1642	@param master EtherCAT-Master
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1643
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1644	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1645	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1646
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1647	int EtherCAT_activate_all_slaves(EtherCAT_master_t *master)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1648	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1649	unsigned int i;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1650
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1651	for (i = 0; i < master->slave_count; i++)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1652	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1653	if (EtherCAT_activate_slave(master, &master->slaves[i]) < 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1654	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1655	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1656	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1657	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1658
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1659	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1660	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1661
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1662	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1663
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1664	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1665	Deaktiviert alle Slaves.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1666
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1667	@see EtherCAT_deactivate_slave
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1668
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1669	@param master EtherCAT-Master
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1670
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1671	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1672	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1673
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1674	int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *master)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1675	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1676	unsigned int i;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1677	int ret = 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1678
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1679	for (i = 0; i < master->slave_count; i++)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1680	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1681	if (EtherCAT_deactivate_slave(master, &master->slaves[i]) < 0)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1682	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1683	ret = -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1684	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1685	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1686
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1687	return ret;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1688	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1689
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1690	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1691
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1692	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1693	Sendet alle Prozessdaten an die Slaves.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1694
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1695	Erstellt ein "logical read write"-Kommando mit den
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1696	Prozessdaten des Masters und sendet es an den Bus.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1697
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1698	@param master EtherCAT-Master
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1699
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1700	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1701	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1702
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1703	int EtherCAT_write_process_data(EtherCAT_master_t *master)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1704	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1705	EtherCAT_command_logical_read_write(&master->process_data_command,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1706	0, master->process_data_length,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1707	master->process_data);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1708
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1709	if (EtherCAT_simple_send(master, &master->process_data_command) < 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1710	{
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1711	EC_DBG(KERN_ERR "EtherCAT: Could not send process data command!\n");
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1712	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1713	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1714
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1715	return 0;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1716	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1717
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1718	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1719
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1720	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1721	Empfängt alle Prozessdaten von den Slaves.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1722
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1723	Empfängt ein zuvor gesendetes "logical read write"-Kommando
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1724	und kopiert die empfangenen daten in den Prozessdatenspeicher
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1725	des Masters.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1726
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1727	@param master EtherCAT-Master
8 f2ebe943c686 Spaces am Zeilenende entfernt. Florian Pose <fp@igh-essen.com> parents: 6 diff changeset	1728
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1729	@return 0 bei Erfolg, sonst < 0
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1730	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1731
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1732	int EtherCAT_read_process_data(EtherCAT_master_t *master)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1733	{
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1734	EtherCAT_device_call_isr(master->dev);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1735
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1736	if (EtherCAT_simple_receive(master, &master->process_data_command) < 0)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1737	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1738	EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1739	return -1;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1740	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1741
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1742	if (master->process_data_command.state != ECAT_CS_RECEIVED)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1743	{
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1744	EC_DBG(KERN_WARNING "EtherCAT: Process data command not received!\n");
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1745	return -1;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1746	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1747
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1748	// Daten von Kommando in Prozessdaten des Master kopieren
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1749	memcpy(master->process_data, master->process_data_command.data,
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1750	master->process_data_length);
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1751
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1752	return 0;
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1753	}
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1754
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1755	/***************************************************************/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1756
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1757	/**
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1758	Verwirft das zuletzt gesendete Prozessdatenkommando.
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1759
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1760	@param master EtherCAT-Master
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1761	*/
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1762
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1763	void EtherCAT_clear_process_data(EtherCAT_master_t *master)
db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1764	{
6 e36a85dc2730 ISR-Aufruf in read_process_data Wilhelm Hagemeister <hm@igh-essen.com> parents: 5 diff changeset	1765	EtherCAT_device_call_isr(master->dev);
13 db0742533c10 Simple Send/Receive Funktionen. Florian Pose <fp@igh-essen.com> parents: 11 diff changeset	1766	master->dev->state = ECAT_DS_READY;
2 b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1767	}
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1768
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1769	/***************************************************************/
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1770
b0a7a4745bf9 ?nderungen an no_rtai r110:110 in drivers gemergt. Florian Pose <fp@igh-essen.com> parents: 0 diff changeset	1771	/**
0 05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1772	Setzt einen Byte-Wert im Speicher.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1773
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1774	@param data Startadresse
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1775	@param offset Byte-Offset
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1776	@param value Wert
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1777	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1778
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1779	void set_byte(unsigned char *data,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1780	unsigned int offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1781	unsigned char value)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1782	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1783	data[offset] = value;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1784	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1785
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1786	/***************************************************************/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1787
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1788	/**
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1789	Setzt einen Word-Wert im Speicher.
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1790
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1791	@param data Startadresse
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1792	@param offset Byte-Offset
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1793	@param value Wert
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1794	*/
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1795
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1796	void set_word(unsigned char *data,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1797	unsigned int offset,
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1798	unsigned int value)
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1799	{
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1800	data[offset] = value & 0xFF;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1801	data[offset + 1] = (value & 0xFF00) >> 8;
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1802	}
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1803
05c992bf5847 trunk, tags und branches Florian Pose <fp@igh-essen.com> parents: diff changeset	1804	/***************************************************************/
11 e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1805
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1806	/**
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1807	Gibt Frame-Inhalte zwecks Debugging aus.
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1808
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1809	@param data Startadresse
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1810	@param length Länge der Daten
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1811	*/
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1812
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1813	void output_debug_data(unsigned char *data, unsigned int length)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1814	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1815	unsigned int i;
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1816
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1817	EC_DBG(KERN_DEBUG);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1818	for (i = 0; i < length; i++)
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1819	{
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1820	EC_DBG("%02X ", data[i]);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1821	if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1822	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1823	EC_DBG("\n");
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1824	}
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1825
e58d78234412 EtherCAT_send_receive_command() zum Senden eines einzelnen Kommandos hinzugef?gt. Florian Pose <fp@igh-essen.com> parents: 8 diff changeset	1826	/***************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 11 Nov 2005 13:46:41 +0000
changeset 13	db0742533c10
parent 11	e58d78234412
child 14	28b57b073f58
permissions	-rw-r--r--