95 master->process_data = NULL; |
74 master->process_data = NULL; |
96 } |
75 } |
97 |
76 |
98 master->process_data_length = 0; |
77 master->process_data_length = 0; |
99 } |
78 } |
100 |
|
101 /***************************************************************/ |
|
102 |
|
103 /** |
|
104 Überprüft die angeschlossenen Slaves. |
|
105 |
|
106 Vergleicht die an den Bus angeschlossenen Slaves mit |
|
107 den im statischen-Slave-Array vorgegebenen Konfigurationen. |
|
108 Stimmen Anzahl oder Typen nicht überein, gibt diese |
|
109 Methode einen Fehler aus. |
|
110 |
|
111 @param master Der EtherCAT-Master |
|
112 @param slaves Zeiger auf ein statisches Slave-Array |
|
113 @param slave_count Anzahl der Slaves im Array |
|
114 |
|
115 @return 0 bei Erfolg, sonst < 0 |
|
116 */ |
|
117 |
|
118 int EtherCAT_check_slaves(EtherCAT_master_t *master, |
|
119 EtherCAT_slave_t *slaves, |
|
120 unsigned int slave_count) |
|
121 { |
|
122 EtherCAT_command_t cmd; |
|
123 EtherCAT_slave_t *cur; |
|
124 unsigned int i, j, found, length, pos; |
|
125 unsigned char data[2]; |
|
126 |
|
127 // EtherCAT_clear_slaves() must be called before! |
|
128 if (master->slaves || master->slave_count) |
|
129 { |
|
130 EC_DBG(KERN_ERR "EtherCAT duplicate slave check!"); |
|
131 return -1; |
|
132 } |
|
133 |
|
134 // No slaves. |
|
135 if (slave_count == 0) |
|
136 { |
|
137 EC_DBG(KERN_ERR "EtherCAT: No slaves in list!"); |
|
138 return -1; |
|
139 } |
|
140 |
|
141 // Determine number of slaves on bus |
|
142 |
|
143 EtherCAT_command_broadcast_read(&cmd, 0x0000, 4); |
|
144 |
|
145 if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1; |
|
146 |
|
147 if (cmd.working_counter != slave_count) |
|
148 { |
|
149 EC_DBG(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n", |
|
150 cmd.working_counter, slave_count); |
|
151 return -1; |
|
152 } |
|
153 else |
|
154 { |
|
155 EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count); |
|
156 } |
|
157 |
|
158 // For every slave in the list |
|
159 for (i = 0; i < slave_count; i++) |
|
160 { |
|
161 cur = &slaves[i]; |
|
162 |
|
163 if (!cur->desc) |
|
164 { |
|
165 EC_DBG(KERN_ERR "EtherCAT: Slave %i has no description.\n", i); |
|
166 return -1; |
|
167 } |
|
168 |
|
169 // Set ring position |
|
170 cur->ring_position = -i; |
|
171 cur->station_address = i + 1; |
|
172 |
|
173 // Write station address |
|
174 |
|
175 data[0] = cur->station_address & 0x00FF; |
|
176 data[1] = (cur->station_address & 0xFF00) >> 8; |
|
177 |
|
178 EtherCAT_command_position_write(&cmd, cur->ring_position, 0x0010, 2, data); |
|
179 if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1; |
|
180 |
|
181 if (cmd.working_counter != 1) |
|
182 { |
|
183 EC_DBG(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i); |
|
184 return -1; |
|
185 } |
|
186 |
|
187 // Read base data |
|
188 |
|
189 EtherCAT_command_read(&cmd, cur->station_address, 0x0000, 4); |
|
190 if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1; |
|
191 |
|
192 if (cmd.working_counter != 1) |
|
193 { |
|
194 EC_DBG(KERN_ERR "EtherCAT: Slave %i did not respond while reading base data!\n", i); |
|
195 return -1; |
|
196 } |
|
197 |
|
198 // Get base data |
|
199 cur->type = cmd.data[0]; |
|
200 cur->revision = cmd.data[1]; |
|
201 cur->build = cmd.data[2] | (cmd.data[3] << 8); |
|
202 |
|
203 // Read identification from "Slave Information Interface" (SII) |
|
204 |
|
205 if (EtherCAT_read_slave_information(master, cur->station_address, |
|
206 0x0008, &cur->vendor_id) != 0) |
|
207 { |
|
208 EC_DBG(KERN_ERR "EtherCAT: Could not read SII vendor id!\n"); |
|
209 return -1; |
|
210 } |
|
211 |
|
212 if (EtherCAT_read_slave_information(master, cur->station_address, |
|
213 0x000A, &cur->product_code) != 0) |
|
214 { |
|
215 EC_DBG(KERN_ERR "EtherCAT: Could not read SII product code!\n"); |
|
216 return -1; |
|
217 } |
|
218 |
|
219 if (EtherCAT_read_slave_information(master, cur->station_address, |
|
220 0x000C, &cur->revision_number) != 0) |
|
221 { |
|
222 EC_DBG(KERN_ERR "EtherCAT: Could not read SII revision number!\n"); |
|
223 return -1; |
|
224 } |
|
225 |
|
226 if (EtherCAT_read_slave_information(master, cur->station_address, |
|
227 0x000E, &cur->serial_number) != 0) |
|
228 { |
|
229 EC_DBG(KERN_ERR "EtherCAT: Could not read SII serial number!\n"); |
|
230 return -1; |
|
231 } |
|
232 |
|
233 // Search for identification in "database" |
|
234 |
|
235 found = 0; |
|
236 |
|
237 for (j = 0; j < slave_idents_count; j++) |
|
238 { |
|
239 if (slave_idents[j].vendor_id == cur->vendor_id |
|
240 && slave_idents[j].product_code == cur->product_code) |
|
241 { |
|
242 found = 1; |
|
243 |
|
244 if (cur->desc != slave_idents[j].desc) |
|
245 { |
|
246 EC_DBG(KERN_ERR "EtherCAT: Unexpected slave device \"%s %s\"" |
|
247 " at position %i. Expected: \"%s %s\"\n", |
|
248 slave_idents[j].desc->vendor_name, |
|
249 slave_idents[j].desc->product_name, i, |
|
250 cur->desc->vendor_name, cur->desc->product_name); |
|
251 return -1; |
|
252 } |
|
253 |
|
254 break; |
|
255 } |
|
256 } |
|
257 |
|
258 if (!found) |
|
259 { |
|
260 EC_DBG(KERN_ERR "EtherCAT: Unknown slave device" |
|
261 " (vendor %X, code %X) at position %i.\n", |
|
262 i, cur->vendor_id, cur->product_code); |
|
263 return -1; |
|
264 } |
|
265 } |
|
266 |
|
267 length = 0; |
|
268 for (i = 0; i < slave_count; i++) |
|
269 { |
|
270 length += slaves[i].desc->data_length; |
|
271 } |
|
272 |
|
273 if ((master->process_data = (unsigned char *) |
|
274 kmalloc(sizeof(unsigned char) * length, GFP_KERNEL)) == NULL) |
|
275 { |
|
276 EC_DBG(KERN_ERR "EtherCAT: Could not allocate %i bytes for process data.\n", length); |
|
277 return -1; |
|
278 } |
|
279 |
|
280 master->process_data_length = length; |
|
281 memset(master->process_data, 0x00, length); |
|
282 |
|
283 pos = 0; |
|
284 for (i = 0; i < slave_count; i++) |
|
285 { |
|
286 slaves[i].process_data = master->process_data + pos; |
|
287 slaves[i].logical_address0 = pos; |
|
288 |
|
289 EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n", |
|
290 i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name, |
|
291 slaves[i].serial_number); |
|
292 |
|
293 pos += slaves[i].desc->data_length; |
|
294 } |
|
295 |
|
296 master->slaves = slaves; |
|
297 master->slave_count = slave_count; |
|
298 |
|
299 return 0; |
|
300 } |
|
301 |
|
302 /***************************************************************/ |
|
303 |
|
304 /** |
|
305 Entfernt den Zeiger auf das Slave-Array. |
|
306 |
|
307 @param master EtherCAT-Master |
|
308 */ |
|
309 |
|
310 void EtherCAT_clear_slaves(EtherCAT_master_t *master) |
|
311 { |
|
312 master->slaves = NULL; |
|
313 master->slave_count = 0; |
|
314 } |
|
315 |
|
316 /***************************************************************/ |
|
317 |
|
318 /** |
|
319 Liest Daten aus dem Slave-Information-Interface |
|
320 eines EtherCAT-Slaves. |
|
321 |
|
322 @param master EtherCAT-Master |
|
323 @param node_address Knotenadresse des Slaves |
|
324 @param offset Adresse des zu lesenden SII-Registers |
|
325 @param target Zeiger auf einen 4 Byte großen Speicher |
|
326 zum Ablegen der Daten |
|
327 |
|
328 @return 0 bei Erfolg, sonst < 0 |
|
329 */ |
|
330 |
|
331 int EtherCAT_read_slave_information(EtherCAT_master_t *master, |
|
332 unsigned short int node_address, |
|
333 unsigned short int offset, |
|
334 unsigned int *target) |
|
335 { |
|
336 EtherCAT_command_t cmd; |
|
337 unsigned char data[10]; |
|
338 unsigned int tries_left; |
|
339 |
|
340 // Initiate read operation |
|
341 |
|
342 data[0] = 0x00; |
|
343 data[1] = 0x01; |
|
344 data[2] = offset & 0xFF; |
|
345 data[3] = (offset & 0xFF00) >> 8; |
|
346 data[4] = 0x00; |
|
347 data[5] = 0x00; |
|
348 |
|
349 EtherCAT_command_write(&cmd, node_address, 0x502, 6, data); |
|
350 if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -3; |
|
351 |
|
352 if (cmd.working_counter != 1) |
|
353 { |
|
354 EC_DBG(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n", |
|
355 node_address); |
|
356 return -4; |
|
357 } |
|
358 |
|
359 // Der Slave legt die Informationen des Slave-Information-Interface |
|
360 // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange |
|
361 // den Status auslesen, bis das Bit weg ist. |
|
362 |
|
363 tries_left = 100; |
|
364 while (tries_left) |
|
365 { |
|
366 udelay(10); |
|
367 |
|
368 EtherCAT_command_read(&cmd, node_address, 0x502, 10); |
|
369 if (EtherCAT_simple_send_receive(master, &cmd) != 0) return -3; |
|
370 |
|
371 if (cmd.working_counter != 1) |
|
372 { |
|
373 EC_DBG(KERN_ERR "EtherCAT: SII-read status - Slave %04X did not respond!\n", |
|
374 node_address); |
|
375 return -4; |
|
376 } |
|
377 |
|
378 if ((cmd.data[1] & 0x81) == 0) |
|
379 { |
|
380 memcpy(target, cmd.data + 6, 4); |
|
381 break; |
|
382 } |
|
383 |
|
384 tries_left--; |
|
385 } |
|
386 |
|
387 if (!tries_left) |
|
388 { |
|
389 EC_DBG(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n", |
|
390 node_address); |
|
391 return -1; |
|
392 } |
|
393 |
|
394 return 0; |
|
395 } |
|
396 |
|
397 #if 0 |
|
398 /***************************************************************/ |
|
399 |
|
400 /** |
|
401 Führt ein asynchrones Senden und Empfangen aus. |
|
402 |
|
403 Sendet alle wartenden Kommandos und wartet auf die |
|
404 entsprechenden Antworten. |
|
405 |
|
406 @param master EtherCAT-Master |
|
407 |
|
408 @return 0 bei Erfolg, sonst < 0 |
|
409 */ |
|
410 |
|
411 int EtherCAT_async_send_receive(EtherCAT_master_t *master) |
|
412 { |
|
413 unsigned int wait_cycles; |
|
414 int i; |
|
415 |
|
416 // Send all commands |
|
417 |
|
418 for (i = 0; i < ECAT_NUM_RETRIES; i++) |
|
419 { |
|
420 if (EtherCAT_send(master) < 0) |
|
421 { |
|
422 return -1; |
|
423 } |
|
424 |
|
425 // Wait until something is received or an error has occurred |
|
426 |
|
427 wait_cycles = 10; |
|
428 EtherCAT_device_call_isr(master->dev); |
|
429 |
|
430 while (master->dev->state == ECAT_DS_SENT && wait_cycles) |
|
431 { |
|
432 udelay(1000); |
|
433 wait_cycles--; |
|
434 EtherCAT_device_call_isr(master->dev); |
|
435 } |
|
436 |
|
437 //EC_DBG("Master async send: tries %d",tries_left); |
|
438 |
|
439 if (!wait_cycles) |
|
440 { |
|
441 EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n"); |
|
442 continue; |
|
443 } |
|
444 |
|
445 if (master->dev->state != ECAT_DS_RECEIVED) |
|
446 { |
|
447 EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state); |
|
448 continue; |
|
449 } |
|
450 |
|
451 // Receive all commands |
|
452 if (EtherCAT_receive(master) < 0) |
|
453 { |
|
454 // Noch mal versuchen |
|
455 master->dev->state = ECAT_DS_READY; |
|
456 EC_DBG("Retry Asynchronous send/recieve: %d", i); |
|
457 continue; |
|
458 } |
|
459 |
|
460 return 0; // Erfolgreich |
|
461 } |
|
462 |
|
463 return -1; |
|
464 } |
|
465 |
|
466 /***************************************************************/ |
|
467 |
|
468 /** |
|
469 Sendet alle wartenden Kommandos. |
|
470 |
|
471 Errechnet erst die benötigte Gesamt-Rahmenlänge, und erstellt |
|
472 dann alle Kommando-Bytefolgen im statischen Sendespeicher. |
|
473 Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen. |
|
474 |
|
475 @param master EtherCAT-Master |
|
476 |
|
477 @return 0 bei Erfolg, sonst < 0 |
|
478 */ |
|
479 |
|
480 int EtherCAT_send(EtherCAT_master_t *master) |
|
481 { |
|
482 unsigned int i, length, framelength, pos; |
|
483 EtherCAT_command_t *cmd; |
|
484 int cmdcnt = 0; |
|
485 |
|
486 if (master->debug_level > 0) |
|
487 { |
|
488 EC_DBG(KERN_DEBUG "EtherCAT_send, first_command = %X\n", (int) master->first_command); |
|
489 } |
|
490 |
|
491 length = 0; |
|
492 for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
493 { |
|
494 if (cmd->state != ECAT_CS_READY) continue; |
|
495 length += cmd->data_length + 12; |
|
496 cmdcnt++; |
|
497 } |
|
498 |
|
499 if (master->debug_level > 0) |
|
500 { |
|
501 EC_DBG(KERN_DEBUG "%i commands to send.\n", cmdcnt); |
|
502 } |
|
503 |
|
504 if (length == 0) |
|
505 { |
|
506 EC_DBG(KERN_WARNING "EtherCAT: Nothing to send...\n"); |
|
507 return 0; |
|
508 } |
|
509 |
|
510 framelength = length + 2; |
|
511 if (framelength < 46) framelength = 46; |
|
512 |
|
513 if (master->debug_level > 0) |
|
514 { |
|
515 EC_DBG(KERN_DEBUG "framelength: %i\n", framelength); |
|
516 } |
|
517 |
|
518 master->tx_data[0] = length & 0xFF; |
|
519 master->tx_data[1] = ((length & 0x700) >> 8) | 0x10; |
|
520 pos = 2; |
|
521 |
|
522 for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
523 { |
|
524 if (cmd->state != ECAT_CS_READY) continue; |
|
525 |
|
526 cmd->index = master->command_index; |
|
527 master->command_index = (master->command_index + 1) % 0x0100; |
|
528 |
|
529 if (master->debug_level > 0) |
|
530 { |
|
531 EC_DBG(KERN_DEBUG "Sending command index %i\n", cmd->index); |
|
532 } |
|
533 |
|
534 cmd->state = ECAT_CS_SENT; |
|
535 |
|
536 master->tx_data[pos + 0] = cmd->type; |
|
537 master->tx_data[pos + 1] = cmd->index; |
|
538 |
|
539 master->tx_data[pos + 2] = cmd->address.raw[0]; |
|
540 master->tx_data[pos + 3] = cmd->address.raw[1]; |
|
541 master->tx_data[pos + 4] = cmd->address.raw[2]; |
|
542 master->tx_data[pos + 5] = cmd->address.raw[3]; |
|
543 |
|
544 master->tx_data[pos + 6] = cmd->data_length & 0xFF; |
|
545 master->tx_data[pos + 7] = (cmd->data_length & 0x700) >> 8; |
|
546 |
|
547 if (cmd->next) master->tx_data[pos + 7] |= 0x80; |
|
548 |
|
549 master->tx_data[pos + 8] = 0x00; |
|
550 master->tx_data[pos + 9] = 0x00; |
|
551 |
|
552 if (cmd->type == ECAT_CMD_APWR |
|
553 || cmd->type == ECAT_CMD_NPWR |
|
554 || cmd->type == ECAT_CMD_BWR |
|
555 || cmd->type == ECAT_CMD_LRW) // Write |
|
556 { |
|
557 for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = cmd->data[i]; |
|
558 } |
|
559 else // Read |
|
560 { |
|
561 for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = 0x00; |
|
562 } |
|
563 |
|
564 master->tx_data[pos + 10 + cmd->data_length] = 0x00; |
|
565 master->tx_data[pos + 11 + cmd->data_length] = 0x00; |
|
566 |
|
567 pos += 12 + cmd->data_length; |
|
568 } |
|
569 |
|
570 // Pad with zeros |
|
571 while (pos < 46) master->tx_data[pos++] = 0x00; |
|
572 |
|
573 master->tx_data_length = framelength; |
|
574 |
|
575 #ifdef DEBUG_SEND_RECEIVE |
|
576 EC_DBG(KERN_DEBUG "\n"); |
|
577 EC_DBG(KERN_DEBUG ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"); |
|
578 EC_DBG(KERN_DEBUG); |
|
579 for (i = 0; i < framelength; i++) |
|
580 { |
|
581 EC_DBG("%02X ", master->tx_data[i]); |
|
582 |
|
583 if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG); |
|
584 } |
|
585 EC_DBG("\n"); |
|
586 EC_DBG(KERN_DEBUG "-----------------------------------------------\n"); |
|
587 #endif |
|
588 |
|
589 if (master->debug_level > 0) |
|
590 { |
|
591 EC_DBG(KERN_DEBUG "device send...\n"); |
|
592 } |
|
593 |
|
594 // Send frame |
|
595 if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0) |
|
596 { |
|
597 EC_DBG(KERN_ERR "EtherCAT: Could not send!\n"); |
|
598 EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
599 output_debug_data(master->tx_data, framelength); |
|
600 return -1; |
|
601 } |
|
602 |
|
603 if (master->debug_level > 0) |
|
604 { |
|
605 EC_DBG(KERN_DEBUG "EtherCAT_send done.\n"); |
|
606 } |
|
607 |
|
608 return 0; |
|
609 } |
|
610 |
|
611 /***************************************************************/ |
|
612 |
|
613 /** |
|
614 Holt alle empfangenen Kommandos vom EtherCAT-Gerät. |
|
615 |
|
616 Kopiert einen empfangenen Rahmen vom EtherCAT-Gerät |
|
617 in den Statischen Empfangsspeicher und ordnet dann |
|
618 allen gesendeten Kommandos ihre Antworten zu. |
|
619 |
|
620 @param master EtherCAT-Master |
|
621 |
|
622 @return 0 bei Erfolg, sonst < 0 |
|
623 */ |
|
624 |
|
625 int EtherCAT_receive(EtherCAT_master_t *master) |
|
626 { |
|
627 EtherCAT_command_t *cmd; |
|
628 unsigned int length, pos, found, rx_data_length; |
|
629 unsigned int command_follows, command_type, command_index; |
|
630 |
|
631 // Copy received data into master buffer (with locking) |
|
632 rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data, |
|
633 ECAT_FRAME_BUFFER_SIZE); |
|
634 |
|
635 #ifdef DEBUG_SEND_RECEIVE |
|
636 for (i = 0; i < rx_data_length; i++) |
|
637 { |
|
638 if (master->rx_data[i] == master->tx_data[i]) EC_DBG(" "); |
|
639 else EC_DBG("%02X ", master->rx_data[i]); |
|
640 if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG); |
|
641 } |
|
642 EC_DBG("\n"); |
|
643 EC_DBG(KERN_DEBUG "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<\n"); |
|
644 EC_DBG(KERN_DEBUG "\n"); |
|
645 #endif |
|
646 |
|
647 if (rx_data_length < 2) |
|
648 { |
|
649 EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (illegal length)!\n"); |
|
650 EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
651 output_debug_data(master->tx_data, master->tx_data_length); |
|
652 EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n"); |
|
653 output_debug_data(master->rx_data, rx_data_length); |
|
654 return -1; |
|
655 } |
|
656 |
|
657 // Länge des gesamten Frames prüfen |
|
658 length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF); |
|
659 |
|
660 if (length > rx_data_length) |
|
661 { |
|
662 EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n"); |
|
663 EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
664 output_debug_data(master->tx_data, master->tx_data_length); |
|
665 EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n"); |
|
666 output_debug_data(master->rx_data, rx_data_length); |
|
667 return -1; |
|
668 } |
|
669 |
|
670 pos = 2; // LibPCAP: 16 |
|
671 command_follows = 1; |
|
672 while (command_follows) |
|
673 { |
|
674 if (pos + 10 > rx_data_length) |
|
675 { |
|
676 EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command header!\n"); |
|
677 EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
678 output_debug_data(master->tx_data, master->tx_data_length); |
|
679 EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n"); |
|
680 output_debug_data(master->rx_data, rx_data_length); |
|
681 return -1; |
|
682 } |
|
683 |
|
684 command_type = master->rx_data[pos]; |
|
685 command_index = master->rx_data[pos + 1]; |
|
686 length = (master->rx_data[pos + 6] & 0xFF) |
|
687 | ((master->rx_data[pos + 7] & 0x07) << 8); |
|
688 command_follows = master->rx_data[pos + 7] & 0x80; |
|
689 |
|
690 if (pos + length + 12 > rx_data_length) |
|
691 { |
|
692 EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n"); |
|
693 EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n"); |
|
694 output_debug_data(master->tx_data, master->tx_data_length); |
|
695 EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n"); |
|
696 output_debug_data(master->rx_data, rx_data_length); |
|
697 return -1; |
|
698 } |
|
699 |
|
700 found = 0; |
|
701 |
|
702 for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
703 { |
|
704 if (cmd->state == ECAT_CS_SENT |
|
705 && cmd->type == command_type |
|
706 && cmd->index == command_index |
|
707 && cmd->data_length == length) |
|
708 { |
|
709 found = 1; |
|
710 cmd->state = ECAT_CS_RECEIVED; |
|
711 |
|
712 // Empfangene Daten in Kommandodatenspeicher kopieren |
|
713 memcpy(cmd->data, master->rx_data + pos + 10, length); |
|
714 |
|
715 // Working-Counter setzen |
|
716 cmd->working_counter = (master->rx_data[pos + length + 10] & 0xFF) |
|
717 | ((master->rx_data[pos + length + 11] & 0xFF) << 8); |
|
718 } |
|
719 } |
|
720 |
|
721 if (!found) |
|
722 { |
|
723 EC_DBG(KERN_WARNING "EtherCAT: WARNING - Command not assigned!\n"); |
|
724 } |
|
725 |
|
726 pos += length + 12; |
|
727 } |
|
728 |
|
729 for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
730 { |
|
731 if (cmd->state == ECAT_CS_SENT) |
|
732 { |
|
733 EC_DBG(KERN_WARNING "EtherCAT: WARNING - One command received no response!\n"); |
|
734 } |
|
735 } |
|
736 |
|
737 master->dev->state = ECAT_DS_READY; |
|
738 |
|
739 return 0; |
|
740 } |
|
741 #endif |
|
742 |
79 |
743 /***************************************************************/ |
80 /***************************************************************/ |
744 |
81 |
745 /** |
82 /** |
746 Sendet ein einzelnes Kommando in einem Frame und |
83 Sendet ein einzelnes Kommando in einem Frame und |
957 return 0; |
294 return 0; |
958 } |
295 } |
959 |
296 |
960 /***************************************************************/ |
297 /***************************************************************/ |
961 |
298 |
962 #if 0 |
299 /** |
963 |
300 Überprüft die angeschlossenen Slaves. |
964 #define ECAT_FUNC_HEADER \ |
301 |
965 EtherCAT_command_t *cmd; \ |
302 Vergleicht die an den Bus angeschlossenen Slaves mit |
966 if ((cmd = alloc_cmd(master)) == NULL) \ |
303 den im statischen-Slave-Array vorgegebenen Konfigurationen. |
967 { \ |
304 Stimmen Anzahl oder Typen nicht überein, gibt diese |
968 EC_DBG(KERN_ERR "EtherCAT: Out of memory while creating command!\n"); \ |
305 Methode einen Fehler aus. |
969 return NULL; \ |
306 |
970 } \ |
307 @param master Der EtherCAT-Master |
971 EtherCAT_command_init(cmd) |
308 @param slaves Zeiger auf ein statisches Slave-Array |
972 |
309 @param slave_count Anzahl der Slaves im Array |
973 #define ECAT_FUNC_WRITE_FOOTER \ |
310 |
974 cmd->data_length = length; \ |
311 @return 0 bei Erfolg, sonst < 0 |
975 memcpy(cmd->data, data, length); \ |
312 */ |
976 if (add_command(master, cmd) < 0) return NULL; \ |
313 |
977 return cmd |
314 int EtherCAT_check_slaves(EtherCAT_master_t *master, |
978 |
315 EtherCAT_slave_t *slaves, |
979 #define ECAT_FUNC_READ_FOOTER \ |
316 unsigned int slave_count) |
980 cmd->data_length = length; \ |
317 { |
981 if (add_command(master, cmd) < 0) return NULL; \ |
318 EtherCAT_command_t cmd; |
982 return cmd |
319 EtherCAT_slave_t *cur; |
983 |
320 unsigned int i, j, found, length, pos; |
984 /***************************************************************/ |
321 unsigned char data[2]; |
985 |
322 |
986 /** |
323 // EtherCAT_clear_slaves() must be called before! |
987 Erstellt ein EtherCAT-NPRD-Kommando. |
324 if (master->slaves || master->slave_count) |
988 |
325 { |
989 Alloziert ein "node-adressed physical read"-Kommando |
326 EC_DBG(KERN_ERR "EtherCAT duplicate slave check!"); |
990 und fügt es in die Liste des Masters ein. |
327 return -1; |
991 |
328 } |
992 @param master EtherCAT-Master |
329 |
993 @param node_address Adresse des Knotens (Slaves) |
330 // No slaves. |
994 @param offset Physikalische Speicheradresse im Slave |
331 if (slave_count == 0) |
995 @param length Länge der zu lesenden Daten |
332 { |
996 |
333 EC_DBG(KERN_ERR "EtherCAT: No slaves in list!"); |
997 @return Adresse des Kommandos bei Erfolg, sonst NULL |
334 return -1; |
998 */ |
335 } |
999 |
336 |
1000 EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *master, |
337 // Determine number of slaves on bus |
1001 unsigned short node_address, |
338 |
1002 unsigned short offset, |
339 EtherCAT_command_broadcast_read(&cmd, 0x0000, 4); |
1003 unsigned int length) |
340 |
1004 { |
341 if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1; |
1005 if (node_address == 0x0000) |
342 |
1006 EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n"); |
343 if (cmd.working_counter != slave_count) |
1007 |
344 { |
1008 ECAT_FUNC_HEADER; |
345 EC_DBG(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n", |
1009 |
346 cmd.working_counter, slave_count); |
1010 cmd->type = ECAT_CMD_NPRD; |
347 return -1; |
1011 cmd->address.phy.dev.node = node_address; |
348 } |
1012 cmd->address.phy.mem = offset; |
349 else |
1013 |
350 { |
1014 ECAT_FUNC_READ_FOOTER; |
351 EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count); |
1015 } |
352 } |
1016 |
353 |
1017 /***************************************************************/ |
354 // For every slave in the list |
1018 |
355 for (i = 0; i < slave_count; i++) |
1019 /** |
356 { |
1020 Erstellt ein EtherCAT-NPWR-Kommando. |
357 cur = &slaves[i]; |
1021 |
358 |
1022 Alloziert ein "node-adressed physical write"-Kommando |
359 if (!cur->desc) |
1023 und fügt es in die Liste des Masters ein. |
360 { |
1024 |
361 EC_DBG(KERN_ERR "EtherCAT: Slave %i has no description.\n", i); |
1025 @param master EtherCAT-Master |
362 return -1; |
1026 @param node_address Adresse des Knotens (Slaves) |
363 } |
1027 @param offset Physikalische Speicheradresse im Slave |
364 |
1028 @param length Länge der zu schreibenden Daten |
365 // Set ring position |
1029 @param data Zeiger auf Speicher mit zu schreibenden Daten |
366 cur->ring_position = -i; |
1030 |
367 cur->station_address = i + 1; |
1031 @return Adresse des Kommandos bei Erfolg, sonst NULL |
368 |
1032 */ |
369 // Write station address |
1033 |
370 |
1034 EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *master, |
371 data[0] = cur->station_address & 0x00FF; |
1035 unsigned short node_address, |
372 data[1] = (cur->station_address & 0xFF00) >> 8; |
1036 unsigned short offset, |
373 |
1037 unsigned int length, |
374 EtherCAT_command_position_write(&cmd, cur->ring_position, 0x0010, 2, data); |
1038 const unsigned char *data) |
375 if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1; |
1039 { |
376 |
1040 if (node_address == 0x0000) |
377 if (cmd.working_counter != 1) |
1041 EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n"); |
378 { |
1042 |
379 EC_DBG(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i); |
1043 ECAT_FUNC_HEADER; |
380 return -1; |
1044 |
381 } |
1045 cmd->type = ECAT_CMD_NPWR; |
382 |
1046 cmd->address.phy.dev.node = node_address; |
383 // Read base data |
1047 cmd->address.phy.mem = offset; |
384 |
1048 |
385 EtherCAT_command_read(&cmd, cur->station_address, 0x0000, 4); |
1049 ECAT_FUNC_WRITE_FOOTER; |
386 if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1; |
1050 } |
387 |
1051 |
388 if (cmd.working_counter != 1) |
1052 /***************************************************************/ |
389 { |
1053 |
390 EC_DBG(KERN_ERR "EtherCAT: Slave %i did not respond while reading base data!\n", i); |
1054 /** |
391 return -1; |
1055 Erstellt ein EtherCAT-APRD-Kommando. |
392 } |
1056 |
393 |
1057 Alloziert ein "autoincerement physical read"-Kommando |
394 // Get base data |
1058 und fügt es in die Liste des Masters ein. |
395 cur->type = cmd.data[0]; |
1059 |
396 cur->revision = cmd.data[1]; |
1060 @param master EtherCAT-Master |
397 cur->build = cmd.data[2] | (cmd.data[3] << 8); |
1061 @param ring_position (Negative) Position des Slaves im Bus |
398 |
1062 @param offset Physikalische Speicheradresse im Slave |
399 // Read identification from "Slave Information Interface" (SII) |
1063 @param length Länge der zu lesenden Daten |
400 |
1064 |
401 if (EtherCAT_read_slave_information(master, cur->station_address, |
1065 @return Adresse des Kommandos bei Erfolg, sonst NULL |
402 0x0008, &cur->vendor_id) != 0) |
1066 */ |
403 { |
1067 |
404 EC_DBG(KERN_ERR "EtherCAT: Could not read SII vendor id!\n"); |
1068 EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *master, |
405 return -1; |
1069 short ring_position, |
406 } |
1070 unsigned short offset, |
407 |
1071 unsigned int length) |
408 if (EtherCAT_read_slave_information(master, cur->station_address, |
1072 { |
409 0x000A, &cur->product_code) != 0) |
1073 ECAT_FUNC_HEADER; |
410 { |
1074 |
411 EC_DBG(KERN_ERR "EtherCAT: Could not read SII product code!\n"); |
1075 cmd->type = ECAT_CMD_APRD; |
412 return -1; |
1076 cmd->address.phy.dev.pos = ring_position; |
413 } |
1077 cmd->address.phy.mem = offset; |
414 |
1078 |
415 if (EtherCAT_read_slave_information(master, cur->station_address, |
1079 ECAT_FUNC_READ_FOOTER; |
416 0x000C, &cur->revision_number) != 0) |
1080 } |
417 { |
1081 |
418 EC_DBG(KERN_ERR "EtherCAT: Could not read SII revision number!\n"); |
1082 /***************************************************************/ |
419 return -1; |
1083 |
420 } |
1084 /** |
421 |
1085 Erstellt ein EtherCAT-APWR-Kommando. |
422 if (EtherCAT_read_slave_information(master, cur->station_address, |
1086 |
423 0x000E, &cur->serial_number) != 0) |
1087 Alloziert ein "autoincrement physical write"-Kommando |
424 { |
1088 und fügt es in die Liste des Masters ein. |
425 EC_DBG(KERN_ERR "EtherCAT: Could not read SII serial number!\n"); |
1089 |
426 return -1; |
1090 @param master EtherCAT-Master |
427 } |
1091 @param ring_position (Negative) Position des Slaves im Bus |
428 |
1092 @param offset Physikalische Speicheradresse im Slave |
429 // Search for identification in "database" |
1093 @param length Länge der zu schreibenden Daten |
430 |
1094 @param data Zeiger auf Speicher mit zu schreibenden Daten |
431 found = 0; |
1095 |
432 |
1096 @return Adresse des Kommandos bei Erfolg, sonst NULL |
433 for (j = 0; j < slave_idents_count; j++) |
1097 */ |
434 { |
1098 |
435 if (slave_idents[j].vendor_id == cur->vendor_id |
1099 EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *master, |
436 && slave_idents[j].product_code == cur->product_code) |
1100 short ring_position, |
|
1101 unsigned short offset, |
|
1102 unsigned int length, |
|
1103 const unsigned char *data) |
|
1104 { |
|
1105 ECAT_FUNC_HEADER; |
|
1106 |
|
1107 cmd->type = ECAT_CMD_APWR; |
|
1108 cmd->address.phy.dev.pos = ring_position; |
|
1109 cmd->address.phy.mem = offset; |
|
1110 |
|
1111 ECAT_FUNC_WRITE_FOOTER; |
|
1112 } |
|
1113 |
|
1114 /***************************************************************/ |
|
1115 |
|
1116 /** |
|
1117 Erstellt ein EtherCAT-BRD-Kommando. |
|
1118 |
|
1119 Alloziert ein "broadcast read"-Kommando |
|
1120 und fügt es in die Liste des Masters ein. |
|
1121 |
|
1122 @param master EtherCAT-Master |
|
1123 @param offset Physikalische Speicheradresse im Slave |
|
1124 @param length Länge der zu lesenden Daten |
|
1125 |
|
1126 @return Adresse des Kommandos bei Erfolg, sonst NULL |
|
1127 */ |
|
1128 |
|
1129 EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *master, |
|
1130 unsigned short offset, |
|
1131 unsigned int length) |
|
1132 { |
|
1133 ECAT_FUNC_HEADER; |
|
1134 |
|
1135 cmd->type = ECAT_CMD_BRD; |
|
1136 cmd->address.phy.dev.node = 0x0000; |
|
1137 cmd->address.phy.mem = offset; |
|
1138 |
|
1139 ECAT_FUNC_READ_FOOTER; |
|
1140 } |
|
1141 |
|
1142 /***************************************************************/ |
|
1143 |
|
1144 /** |
|
1145 Erstellt ein EtherCAT-BWR-Kommando. |
|
1146 |
|
1147 Alloziert ein "broadcast write"-Kommando |
|
1148 und fügt es in die Liste des Masters ein. |
|
1149 |
|
1150 @param master EtherCAT-Master |
|
1151 @param offset Physikalische Speicheradresse im Slave |
|
1152 @param length Länge der zu schreibenden Daten |
|
1153 @param data Zeiger auf Speicher mit zu schreibenden Daten |
|
1154 |
|
1155 @return Adresse des Kommandos bei Erfolg, sonst NULL |
|
1156 */ |
|
1157 |
|
1158 EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *master, |
|
1159 unsigned short offset, |
|
1160 unsigned int length, |
|
1161 const unsigned char *data) |
|
1162 { |
|
1163 ECAT_FUNC_HEADER; |
|
1164 |
|
1165 cmd->type = ECAT_CMD_BWR; |
|
1166 cmd->address.phy.dev.node = 0x0000; |
|
1167 cmd->address.phy.mem = offset; |
|
1168 |
|
1169 ECAT_FUNC_WRITE_FOOTER; |
|
1170 } |
|
1171 |
|
1172 /***************************************************************/ |
|
1173 |
|
1174 /** |
|
1175 Erstellt ein EtherCAT-LRW-Kommando. |
|
1176 |
|
1177 Alloziert ein "logical read write"-Kommando |
|
1178 und fügt es in die Liste des Masters ein. |
|
1179 |
|
1180 @param master EtherCAT-Master |
|
1181 @param offset Logische Speicheradresse |
|
1182 @param length Länge der zu lesenden/schreibenden Daten |
|
1183 @param data Zeiger auf Speicher mit zu lesenden/schreibenden Daten |
|
1184 |
|
1185 @return Adresse des Kommandos bei Erfolg, sonst NULL |
|
1186 */ |
|
1187 |
|
1188 EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *master, |
|
1189 unsigned int offset, |
|
1190 unsigned int length, |
|
1191 unsigned char *data) |
|
1192 { |
|
1193 ECAT_FUNC_HEADER; |
|
1194 |
|
1195 cmd->type = ECAT_CMD_LRW; |
|
1196 cmd->address.logical = offset; |
|
1197 |
|
1198 ECAT_FUNC_WRITE_FOOTER; |
|
1199 } |
|
1200 |
|
1201 /***************************************************************/ |
|
1202 |
|
1203 /** |
|
1204 Alloziert ein neues Kommando aus dem Kommandoring. |
|
1205 |
|
1206 Durchsucht den Kommandoring nach einem freien Kommando, |
|
1207 reserviert es und gibt dessen Adresse zurück. |
|
1208 |
|
1209 @param master EtherCAT-Master |
|
1210 |
|
1211 @return Adresse des Kommandos bei Erfolg, sonst NULL |
|
1212 */ |
|
1213 |
|
1214 EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *master) |
|
1215 { |
|
1216 int j; |
|
1217 |
|
1218 for (j = 0; j < ECAT_COMMAND_RING_SIZE; j++) // Einmal rum suchen |
|
1219 { |
|
1220 // Solange suchen, bis freies Kommando gefunden |
|
1221 if (master->cmd_reserved[master->cmd_ring_index] == 0) |
|
1222 { |
|
1223 master->cmd_reserved[master->cmd_ring_index] = 1; // Belegen |
|
1224 |
|
1225 if (master->debug_level) |
|
1226 { |
437 { |
1227 EC_DBG(KERN_DEBUG "Allocating command %i (addr %X).\n", |
438 found = 1; |
1228 master->cmd_ring_index, |
439 |
1229 (int) &master->cmd_ring[master->cmd_ring_index]); |
440 if (cur->desc != slave_idents[j].desc) |
|
441 { |
|
442 EC_DBG(KERN_ERR "EtherCAT: Unexpected slave device \"%s %s\"" |
|
443 " at position %i. Expected: \"%s %s\"\n", |
|
444 slave_idents[j].desc->vendor_name, |
|
445 slave_idents[j].desc->product_name, i, |
|
446 cur->desc->vendor_name, cur->desc->product_name); |
|
447 return -1; |
|
448 } |
|
449 |
|
450 break; |
1230 } |
451 } |
1231 |
452 } |
1232 return &master->cmd_ring[master->cmd_ring_index]; |
453 |
1233 } |
454 if (!found) |
1234 |
455 { |
1235 if (master->debug_level) |
456 EC_DBG(KERN_ERR "EtherCAT: Unknown slave device" |
1236 { |
457 " (vendor %X, code %X) at position %i.\n", |
1237 EC_DBG(KERN_DEBUG "Command %i (addr %X) is reserved...\n", |
458 i, cur->vendor_id, cur->product_code); |
1238 master->cmd_ring_index, |
|
1239 (int) &master->cmd_ring[master->cmd_ring_index]); |
|
1240 } |
|
1241 |
|
1242 master->cmd_ring_index++; |
|
1243 master->cmd_ring_index %= ECAT_COMMAND_RING_SIZE; |
|
1244 } |
|
1245 |
|
1246 EC_DBG(KERN_WARNING "EtherCAT: Command ring full!\n"); |
|
1247 |
|
1248 return NULL; // Nix gefunden |
|
1249 } |
|
1250 |
|
1251 /***************************************************************/ |
|
1252 |
|
1253 /** |
|
1254 Fügt ein Kommando in die Liste des Masters ein. |
|
1255 |
|
1256 @param master EtherCAT-Master |
|
1257 @param cmd Zeiger auf das einzufügende Kommando |
|
1258 */ |
|
1259 |
|
1260 int add_command(EtherCAT_master_t *master, |
|
1261 EtherCAT_command_t *new_cmd) |
|
1262 { |
|
1263 EtherCAT_command_t *cmd, **last_cmd; |
|
1264 |
|
1265 for (cmd = master->first_command; cmd != NULL; cmd = cmd->next) |
|
1266 { |
|
1267 if (cmd == new_cmd) |
|
1268 { |
|
1269 EC_DBG(KERN_WARNING "EtherCAT: Trying to add a command" |
|
1270 " that is already in the list!\n"); |
|
1271 return -1; |
459 return -1; |
1272 } |
460 } |
1273 } |
461 } |
1274 |
462 |
1275 // Find the address of the last pointer in the list |
463 length = 0; |
1276 last_cmd = &(master->first_command); |
464 for (i = 0; i < slave_count; i++) |
1277 while (*last_cmd) last_cmd = &(*last_cmd)->next; |
465 { |
1278 |
466 length += slaves[i].desc->data_length; |
1279 // Let this pointer point to the new command |
467 } |
1280 *last_cmd = new_cmd; |
468 |
1281 |
469 if ((master->process_data = (unsigned char *) |
1282 return 0; |
470 kmalloc(sizeof(unsigned char) * length, GFP_KERNEL)) == NULL) |
1283 } |
471 { |
1284 |
472 EC_DBG(KERN_ERR "EtherCAT: Could not allocate %i bytes for process data.\n", length); |
1285 /***************************************************************/ |
473 return -1; |
1286 |
474 } |
1287 /** |
475 |
1288 Entfernt ein Kommando aus der Liste und gibt es frei. |
476 master->process_data_length = length; |
1289 |
477 memset(master->process_data, 0x00, length); |
1290 Prüft erst, ob das Kommando in der Liste des Masters |
478 |
1291 ist. Wenn ja, wird es entfernt und die Reservierung wird |
479 pos = 0; |
1292 aufgehoben. |
480 for (i = 0; i < slave_count; i++) |
1293 |
481 { |
1294 @param master EtherCAT-Master |
482 slaves[i].process_data = master->process_data + pos; |
1295 @param rem_cmd Zeiger auf das zu entfernende Kommando |
483 slaves[i].logical_address0 = pos; |
1296 |
484 |
1297 @return 0 bei Erfolg, sonst < 0 |
485 EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n", |
1298 */ |
486 i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name, |
1299 |
487 slaves[i].serial_number); |
1300 void EtherCAT_remove_command(EtherCAT_master_t *master, |
488 |
1301 EtherCAT_command_t *rem_cmd) |
489 pos += slaves[i].desc->data_length; |
1302 { |
490 } |
1303 EtherCAT_command_t **last_cmd; |
491 |
1304 int i; |
492 master->slaves = slaves; |
1305 |
493 master->slave_count = slave_count; |
1306 last_cmd = &master->first_command; |
494 |
1307 while (*last_cmd) |
495 return 0; |
1308 { |
496 } |
1309 if (*last_cmd == rem_cmd) |
497 |
1310 { |
498 /***************************************************************/ |
1311 *last_cmd = rem_cmd->next; |
499 |
1312 EtherCAT_command_clear(rem_cmd); |
500 /** |
1313 |
501 Entfernt den Zeiger auf das Slave-Array. |
1314 // Reservierung des Kommandos aufheben |
502 |
1315 for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++) |
503 @param master EtherCAT-Master |
1316 { |
504 */ |
1317 if (&master->cmd_ring[i] == rem_cmd) |
505 |
1318 { |
506 void EtherCAT_clear_slaves(EtherCAT_master_t *master) |
1319 master->cmd_reserved[i] = 0; |
507 { |
1320 return; |
508 master->slaves = NULL; |
1321 } |
509 master->slave_count = 0; |
1322 } |
510 } |
1323 |
511 |
1324 EC_DBG(KERN_WARNING "EtherCAT: Could not remove command reservation!\n"); |
512 /***************************************************************/ |
1325 return; |
513 |
1326 } |
514 /** |
1327 |
515 Liest Daten aus dem Slave-Information-Interface |
1328 last_cmd = &(*last_cmd)->next; |
516 eines EtherCAT-Slaves. |
1329 } |
517 |
1330 |
518 @param master EtherCAT-Master |
1331 EC_DBG(KERN_WARNING "EtherCAT: Trying to remove non-existent command!\n"); |
519 @param node_address Knotenadresse des Slaves |
1332 } |
520 @param offset Adresse des zu lesenden SII-Registers |
1333 #endif |
521 @param target Zeiger auf einen 4 Byte großen Speicher |
|
522 zum Ablegen der Daten |
|
523 |
|
524 @return 0 bei Erfolg, sonst < 0 |
|
525 */ |
|
526 |
|
527 int EtherCAT_read_slave_information(EtherCAT_master_t *master, |
|
528 unsigned short int node_address, |
|
529 unsigned short int offset, |
|
530 unsigned int *target) |
|
531 { |
|
532 EtherCAT_command_t cmd; |
|
533 unsigned char data[10]; |
|
534 unsigned int tries_left; |
|
535 |
|
536 // Initiate read operation |
|
537 |
|
538 data[0] = 0x00; |
|
539 data[1] = 0x01; |
|
540 data[2] = offset & 0xFF; |
|
541 data[3] = (offset & 0xFF00) >> 8; |
|
542 data[4] = 0x00; |
|
543 data[5] = 0x00; |
|
544 |
|
545 EtherCAT_command_write(&cmd, node_address, 0x502, 6, data); |
|
546 if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -3; |
|
547 |
|
548 if (cmd.working_counter != 1) |
|
549 { |
|
550 EC_DBG(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n", |
|
551 node_address); |
|
552 return -4; |
|
553 } |
|
554 |
|
555 // Der Slave legt die Informationen des Slave-Information-Interface |
|
556 // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange |
|
557 // den Status auslesen, bis das Bit weg ist. |
|
558 |
|
559 tries_left = 100; |
|
560 while (tries_left) |
|
561 { |
|
562 udelay(10); |
|
563 |
|
564 EtherCAT_command_read(&cmd, node_address, 0x502, 10); |
|
565 if (EtherCAT_simple_send_receive(master, &cmd) != 0) return -3; |
|
566 |
|
567 if (cmd.working_counter != 1) |
|
568 { |
|
569 EC_DBG(KERN_ERR "EtherCAT: SII-read status - Slave %04X did not respond!\n", |
|
570 node_address); |
|
571 return -4; |
|
572 } |
|
573 |
|
574 if ((cmd.data[1] & 0x81) == 0) |
|
575 { |
|
576 memcpy(target, cmd.data + 6, 4); |
|
577 break; |
|
578 } |
|
579 |
|
580 tries_left--; |
|
581 } |
|
582 |
|
583 if (!tries_left) |
|
584 { |
|
585 EC_DBG(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n", |
|
586 node_address); |
|
587 return -1; |
|
588 } |
|
589 |
|
590 return 0; |
|
591 } |
1334 |
592 |
1335 /***************************************************************/ |
593 /***************************************************************/ |
1336 |
594 |
1337 /** |
595 /** |
1338 Ändert den Zustand eines Slaves (asynchron). |
596 Ändert den Zustand eines Slaves (asynchron). |