--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/ec_master.c Fri Oct 21 11:21:42 2005 +0000
@@ -0,0 +1,1767 @@
+/****************************************************************
+ *
+ * e c _ m a s t e r . c
+ *
+ * Methoden für einen EtherCAT-Master.
+ *
+ * $Date$
+ * $Author$
+ *
+ ***************************************************************/
+
+#include <linux/kernel.h>
+#include <linux/string.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+
+#include "ec_globals.h"
+#include "ec_master.h"
+#include "ec_dbg.h"
+
+// FIXME: Klappt nur solange, wie es nur einen Master gibt! fp
+static int ASYNC = 0;
+
+/***************************************************************/
+
+/**
+ Konstruktor des EtherCAT-Masters.
+
+ @param master Zeiger auf den zu initialisierenden
+ EtherCAT-Master
+ @param dev Zeiger auf das EtherCAT-gerät, mit dem der
+ Master arbeiten soll
+
+ @return 0 bei Erfolg, sonst < 0 (= dev ist NULL)
+*/
+
+int EtherCAT_master_init(EtherCAT_master_t *master,
+ EtherCAT_device_t *dev)
+{
+ unsigned int i;
+
+ if (!dev)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Master init without device!\n");
+ return -1;
+ }
+
+ master->slaves = NULL;
+ master->slave_count = 0;
+ master->first_command = NULL;
+ master->process_data_command = NULL;
+ master->dev = dev;
+ master->command_index = 0x00;
+ master->tx_data_length = 0;
+ master->process_data = NULL;
+ master->process_data_length = 0;
+ master->cmd_ring_index = 0;
+
+ for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++)
+ {
+ EtherCAT_command_init(&master->cmd_ring[i]);
+ }
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Destruktor eines EtherCAT-Masters.
+
+ Entfernt alle Kommandos aus der Liste, löscht den Zeiger
+ auf das Slave-Array und gibt die Prozessdaten frei.
+
+ @param master Zeiger auf den zu löschenden Master
+*/
+
+void EtherCAT_master_clear(EtherCAT_master_t *master)
+{
+ EC_DBG("Master clear");
+
+ // Remove all pending commands
+ while (master->first_command)
+ {
+ EtherCAT_remove_command(master, master->first_command);
+ }
+
+ // Remove all slaves
+ EtherCAT_clear_slaves(master);
+
+ if (master->process_data)
+ {
+ kfree(master->process_data);
+ master->process_data = NULL;
+ }
+
+ master->process_data_length = 0;
+
+ EC_DBG("done...\n");
+}
+
+/***************************************************************/
+
+/**
+ Überprüft die angeschlossenen Slaves.
+
+ Vergleicht die an den Bus angeschlossenen Slaves mit
+ den im statischen-Slave-Array vorgegebenen Konfigurationen.
+ Stimmen Anzahl oder Typen nicht überein, gibt diese
+ Methode einen Fehler aus.
+
+ @param master Der EtherCAT-Master
+ @param slaves Zeiger auf ein statisches Slave-Array
+ @param slave_count Anzahl der Slaves im Array
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_check_slaves(EtherCAT_master_t *master,
+ EtherCAT_slave_t *slaves,
+ unsigned int slave_count)
+{
+ EtherCAT_command_t *cmd;
+ EtherCAT_slave_t *cur;
+ unsigned int i, j, found, length, pos;
+ unsigned char data[2];
+
+ // EtherCAT_clear_slaves() must be called before!
+ if (master->slaves || master->slave_count)
+ {
+ EC_DBG(KERN_ERR "EtherCAT duplicate slave check!");
+ return -1;
+ }
+
+ // No slaves.
+ if (slave_count == 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: No slaves in list!");
+ return -1;
+ }
+
+ // Determine number of slaves on bus
+
+ if ((cmd = EtherCAT_broadcast_read(master, 0x0000, 4)) == NULL)
+ {
+ return -1;
+ }
+
+ if (EtherCAT_async_send_receive(master) != 0)
+ {
+ return -1;
+ }
+
+ if (cmd->working_counter != slave_count)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n",
+ cmd->working_counter, slave_count);
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+ else
+ {
+ EC_DBG("EtherCAT: Slave count on bus: %i. Found: %i.\n",
+ cmd->working_counter, slave_count);
+ }
+
+ EtherCAT_remove_command(master, cmd);
+
+ // For every slave in the list
+ for (i = 0; i < slave_count; i++)
+ {
+ cur = &slaves[i];
+
+ if (!cur->desc)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Slave %i has no description.\n", i);
+ return -1;
+ }
+
+ // Set ring position
+ cur->ring_position = -i;
+ cur->station_address = i + 1;
+
+ // Write station address
+
+ data[0] = cur->station_address & 0x00FF;
+ data[1] = (cur->station_address & 0xFF00) >> 8;
+
+ if ((cmd = EtherCAT_position_write(master, cur->ring_position, 0x0010, 2, data)) == NULL)
+ {
+ return -1;
+ }
+
+ if (EtherCAT_async_send_receive(master) != 0)
+ {
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i);
+ return -1;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+
+ // Read base data
+
+ if ((cmd = EtherCAT_read(master, cur->station_address, 0x0000, 4)) == NULL)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not create command!\n");
+ return -1;
+ }
+
+ if (EtherCAT_async_send_receive(master) != 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Could not send command!\n");
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Slave %i did not respond while reading base data!\n", i);
+ return -1;
+ }
+
+ // Get base data
+ cur->type = cmd->data[0];
+ cur->revision = cmd->data[1];
+ cur->build = cmd->data[2] | (cmd->data[3] << 8);
+
+ EtherCAT_remove_command(master, cmd);
+
+ // Read identification from "Slave Information Interface" (SII)
+
+ if (EtherCAT_read_slave_information(master, cur->station_address,
+ 0x0008, &cur->vendor_id) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+ return -1;
+ }
+
+ if (EtherCAT_read_slave_information(master, cur->station_address,
+ 0x000A, &cur->product_code) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+ return -1;
+ }
+
+ if (EtherCAT_read_slave_information(master, cur->station_address,
+ 0x000E, &cur->revision_number) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII!\n");
+ return -1;
+ }
+
+ // Search for identification in "database"
+
+ found = 0;
+
+ for (j = 0; j < slave_idents_count; j++)
+ {
+ if (slave_idents[j].vendor_id == cur->vendor_id
+ && slave_idents[j].product_code == cur->product_code)
+ {
+ found = 1;
+
+ if (cur->desc != slave_idents[j].desc)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Unexpected slave device \"%s %s\""
+ " at position %i. Expected: \"%s %s\"\n",
+ slave_idents[j].desc->vendor_name,
+ slave_idents[j].desc->product_name, i,
+ cur->desc->vendor_name, cur->desc->product_name);
+ return -1;
+ }
+
+ break;
+ }
+ }
+
+ if (!found)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at position %i.\n",
+ i, cur->vendor_id, cur->product_code);
+ return -1;
+ }
+ }
+
+ length = 0;
+ for (i = 0; i < slave_count; i++)
+ {
+ length += slaves[i].desc->data_length;
+ }
+
+ if ((master->process_data = (unsigned char *)
+ kmalloc(sizeof(unsigned char) * length, GFP_KERNEL)) == NULL)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not allocate %i bytes for process data.\n", length);
+ return -1;
+ }
+
+ master->process_data_length = length;
+ memset(master->process_data, 0x00, length);
+
+ pos = 0;
+ for (i = 0; i < slave_count; i++)
+ {
+ slaves[i].process_data = master->process_data + pos;
+ slaves[i].logical_address0 = pos;
+
+ EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - \"%s %s\" - Logical Address 0x%08X\n",
+ i, slaves[i].desc->vendor_name, slaves[i].desc->product_name, pos);
+
+ pos += slaves[i].desc->data_length;
+ }
+
+ master->slaves = slaves;
+ master->slave_count = slave_count;
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Entfernt den Zeiger auf das Slave-Array.
+
+ @param master EtherCAT-Master
+*/
+
+void EtherCAT_clear_slaves(EtherCAT_master_t *master)
+{
+ master->slaves = NULL;
+ master->slave_count = 0;
+}
+
+/***************************************************************/
+
+/**
+ Liest Daten aus dem Slave-Information-Interface
+ eines EtherCAT-Slaves.
+
+ @param master EtherCAT-Master
+ @param node_address Knotenadresse des Slaves
+ @param offset Adresse des zu lesenden SII-Registers
+ @param target Zeiger auf einen 4 Byte großen Speicher
+ zum Ablegen der Daten
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_read_slave_information(EtherCAT_master_t *master,
+ unsigned short int node_address,
+ unsigned short int offset,
+ unsigned int *target)
+{
+ EtherCAT_command_t *cmd;
+ unsigned char data[10];
+ unsigned int tries_left;
+
+ // Initiate read operation
+
+ data[0] = 0x00;
+ data[1] = 0x01;
+ data[2] = offset & 0xFF;
+ data[3] = (offset & 0xFF00) >> 8;
+ data[4] = 0x00;
+ data[5] = 0x00;
+
+ if ((cmd = EtherCAT_write(master, node_address, 0x502, 6, data)) == NULL)
+ return -2;
+
+ if (EtherCAT_async_send_receive(master) != 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+ return -3;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+ EC_DBG(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n",
+ node_address);
+ return -4;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+
+ // Get status of read operation
+
+ // ?? FIXME warum hier tries ?? Hm
+
+ // Der Slave legt die Informationen des Slave-Information-Interface
+ // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
+ // den Status auslesen, bis das Bit weg ist. fp
+
+ tries_left = 1000;
+ while (tries_left)
+ {
+ udelay(10);
+
+ if ((cmd = EtherCAT_read(master, node_address, 0x502, 10)) == NULL)
+ return -2;
+
+ if (EtherCAT_async_send_receive(master) != 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+ return -3;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+ EC_DBG(KERN_ERR "EtherCAT: SII-read status - Slave %04X did not respond!\n",
+ node_address);
+ return -4;
+ }
+
+ if ((cmd->data[1] & 0x81) == 0)
+ {
+ memcpy(target, cmd->data + 6, 4);
+ EtherCAT_remove_command(master, cmd);
+ break;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+
+ tries_left--;
+ }
+
+ if (!tries_left)
+ {
+ EC_DBG(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n",
+ node_address);
+ return -1;
+ }
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Führt ein asynchrones Senden und Empfangen aus.
+
+ Sendet alle wartenden Kommandos und wartet auf die
+ entsprechenden Antworten.
+
+ @param master EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_async_send_receive(EtherCAT_master_t *master)
+{
+ unsigned int wait_cycles;
+ int i;
+
+ // Send all commands
+
+ //EC_DBG("Master async send");
+
+ for (i = 0; i < ECAT_NUM_RETRIES; i++)
+ {
+ ASYNC = 1;
+ if (EtherCAT_send(master) < 0) return -1;
+ ASYNC = 0;
+
+ // Wait until something is received or an error has occurred
+ wait_cycles = 10;
+ while (master->dev->state == ECAT_DS_SENT && wait_cycles)
+ {
+ udelay(1000);
+ wait_cycles--;
+ }
+
+ //EC_DBG("Master async send: tries %d",tries_left);
+
+ if (!wait_cycles)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n");
+ continue;
+ }
+
+ if (master->dev->state != ECAT_DS_RECEIVED)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state);
+ continue;
+ }
+
+ // Receive all commands
+ if (EtherCAT_receive(master) < 0)
+ {
+ // Noch mal versuchen
+ master->dev->state = ECAT_DS_READY;
+ EC_DBG("Retry Asynchronous send/recieve: %d", i);
+ continue;
+ }
+
+ return 0; // Erfolgreich
+ }
+
+ return -1;
+}
+
+/***************************************************************/
+
+/**
+ Sendet alle wartenden Kommandos.
+
+ Errechnet erst die benötigte Gesamt-Rahmenlänge, und erstellt
+ dann alle Kommando-Bytefolgen im statischen Sendespeicher.
+ Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen.
+
+ @param master EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_send(EtherCAT_master_t *master)
+{
+ unsigned int i, length, framelength, pos;
+ EtherCAT_command_t *cmd;
+ int cmdcnt = 0;
+
+ length = 0;
+ for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
+ {
+ if (cmd->state != ECAT_CS_READY) continue;
+ length += cmd->data_length + 12;
+ cmdcnt++;
+ }
+
+ if (length == 0)
+ {
+ EC_DBG(KERN_WARNING "EtherCAT: Nothing to send...\n");
+ return 0;
+ }
+
+ framelength = length + 2;
+ if (framelength < 46) framelength = 46;
+
+ if (ASYNC && framelength > 46)
+ EC_DBG(KERN_WARNING "Framelength: %d", framelength);
+
+ if (ASYNC && cmdcnt > 1)
+ EC_DBG(KERN_WARNING "CMDcount: %d", cmdcnt);
+
+ master->tx_data[0] = length & 0xFF;
+ master->tx_data[1] = ((length & 0x700) >> 8) | 0x10;
+ pos = 2;
+
+ for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
+ {
+ if (cmd->state != ECAT_CS_READY) continue;
+
+ cmd->index = master->command_index;
+ master->command_index = (master->command_index + 1) % 0x0100;
+
+ cmd->state = ECAT_CS_SENT;
+
+ master->tx_data[pos + 0] = cmd->type;
+ master->tx_data[pos + 1] = cmd->index;
+
+ master->tx_data[pos + 2] = cmd->address.raw[0];
+ master->tx_data[pos + 3] = cmd->address.raw[1];
+ master->tx_data[pos + 4] = cmd->address.raw[2];
+ master->tx_data[pos + 5] = cmd->address.raw[3];
+
+ master->tx_data[pos + 6] = cmd->data_length & 0xFF;
+ master->tx_data[pos + 7] = (cmd->data_length & 0x700) >> 8;
+
+ if (cmd->next) master->tx_data[pos + 7] |= 0x80;
+
+ master->tx_data[pos + 8] = 0x00;
+ master->tx_data[pos + 9] = 0x00;
+
+ if (cmd->type == ECAT_CMD_APWR
+ || cmd->type == ECAT_CMD_NPWR
+ || cmd->type == ECAT_CMD_BWR
+ || cmd->type == ECAT_CMD_LRW) // Write
+ {
+ for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = cmd->data[i];
+ }
+ else // Read
+ {
+ for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = 0x00;
+ }
+
+ master->tx_data[pos + 10 + cmd->data_length] = 0x00;
+ master->tx_data[pos + 11 + cmd->data_length] = 0x00;
+
+ pos += 12 + cmd->data_length;
+ }
+
+ // Pad with zeros
+ while (pos < 46) master->tx_data[pos++] = 0x00;
+
+ master->tx_data_length = framelength;
+
+#ifdef DEBUG_SEND_RECEIVE
+ EC_DBG(KERN_DEBUG "\n");
+ EC_DBG(KERN_DEBUG ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < framelength; i++)
+ {
+ EC_DBG("%02X ", master->tx_data[i]);
+
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ EC_DBG(KERN_DEBUG "-----------------------------------------------\n");
+#endif
+
+ // Send frame
+ if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not send!\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < framelength; i++)
+ {
+ EC_DBG("%02X ", master->tx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ return -1;
+ }
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Holt alle empfangenen Kommandos vom EtherCAT-Gerät.
+
+ Kopiert einen empfangenen Rahmen vom EtherCAT-Gerät
+ in den Statischen Empfangsspeicher und ordnet dann
+ allen gesendeten Kommandos ihre Antworten zu.
+
+ @param master EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_receive(EtherCAT_master_t *master)
+{
+ EtherCAT_command_t *cmd;
+ unsigned int length, pos, found, rx_data_length;
+ unsigned int command_follows, command_type, command_index;
+ unsigned int i;
+
+ // Copy received data into master buffer (with locking)
+ rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
+ ECAT_FRAME_BUFFER_SIZE);
+
+#ifdef DEBUG_SEND_RECEIVE
+ for (i = 0; i < rx_data_length; i++)
+ {
+ if (master->rx_data[i] == master->tx_data[i]) EC_DBG(" ");
+ else EC_DBG("%02X ", master->rx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ EC_DBG(KERN_DEBUG "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<\n");
+ EC_DBG(KERN_DEBUG "\n");
+#endif
+
+ if (rx_data_length < 2)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (illegal length)!\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < master->tx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->tx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < rx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->rx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ return -1;
+ }
+
+ // Länge des gesamten Frames prüfen
+ length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
+
+ if (length > rx_data_length)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < master->tx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->tx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < rx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->rx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ return -1;
+ }
+
+ pos = 2; // LibPCAP: 16
+ command_follows = 1;
+ while (command_follows)
+ {
+ if (pos + 10 > rx_data_length)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command header!\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < master->tx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->tx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < rx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->rx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ return -1;
+ }
+
+ command_type = master->rx_data[pos];
+ command_index = master->rx_data[pos + 1];
+ length = (master->rx_data[pos + 6] & 0xFF)
+ | ((master->rx_data[pos + 7] & 0x07) << 8);
+ command_follows = master->rx_data[pos + 7] & 0x80;
+
+ if (pos + length + 12 > rx_data_length)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < master->tx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->tx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < rx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->rx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+ return -1;
+ }
+
+ found = 0;
+
+ for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
+ {
+ if (cmd->state == ECAT_CS_SENT
+ && cmd->type == command_type
+ && cmd->index == command_index
+ && cmd->data_length == length)
+ {
+ found = 1;
+ cmd->state = ECAT_CS_RECEIVED;
+
+ // Empfangene Daten in Kommandodatenspeicher kopieren
+ memcpy(cmd->data, master->rx_data + pos + 10, length);
+
+ // Working-Counter setzen
+ cmd->working_counter = (master->rx_data[pos + length + 10] & 0xFF)
+ | ((master->rx_data[pos + length + 11] & 0xFF) << 8);
+ }
+ }
+
+ if (!found)
+ {
+ EC_DBG(KERN_WARNING "EtherCAT: WARNING - Command not assigned!\n");
+ }
+
+ pos += length + 12;
+ }
+
+ for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
+ {
+ if (cmd->state == ECAT_CS_SENT)
+ {
+ EC_DBG(KERN_WARNING "EtherCAT: WARNING - One command received no response!\n");
+ }
+ }
+
+ master->dev->state = ECAT_DS_READY;
+
+ return 0;
+}
+
+/***************************************************************/
+
+#define ECAT_FUNC_HEADER \
+ EtherCAT_command_t *cmd; \
+ if ((cmd = alloc_cmd(master)) == NULL) \
+ { \
+ EC_DBG(KERN_ERR "EtherCAT: Out of memory while creating command!\n"); \
+ return NULL; \
+ } \
+ EtherCAT_command_init(cmd)
+
+#define ECAT_FUNC_WRITE_FOOTER \
+ cmd->data_length = length; \
+ memcpy(cmd->data, data, length); \
+ add_command(master, cmd); \
+ return cmd
+
+#define ECAT_FUNC_READ_FOOTER \
+ cmd->data_length = length; \
+ add_command(master, cmd); \
+ return cmd
+
+/***************************************************************/
+
+/**
+ Erstellt ein EtherCAT-NPRD-Kommando.
+
+ Alloziert ein "node-adressed physical read"-Kommando
+ und fügt es in die Liste des Masters ein.
+
+ @param master EtherCAT-Master
+ @param node_address Adresse des Knotens (Slaves)
+ @param offset Physikalische Speicheradresse im Slave
+ @param length Länge der zu lesenden Daten
+
+ @return Adresse des Kommandos bei Erfolg, sonst NULL
+*/
+
+EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *master,
+ unsigned short node_address,
+ unsigned short offset,
+ unsigned int length)
+{
+ if (node_address == 0x0000)
+ EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n");
+
+ ECAT_FUNC_HEADER;
+
+ cmd->type = ECAT_CMD_NPRD;
+ cmd->address.phy.dev.node = node_address;
+ cmd->address.phy.mem = offset;
+
+ ECAT_FUNC_READ_FOOTER;
+}
+
+/***************************************************************/
+
+/**
+ Erstellt ein EtherCAT-NPWR-Kommando.
+
+ Alloziert ein "node-adressed physical write"-Kommando
+ und fügt es in die Liste des Masters ein.
+
+ @param master EtherCAT-Master
+ @param node_address Adresse des Knotens (Slaves)
+ @param offset Physikalische Speicheradresse im Slave
+ @param length Länge der zu schreibenden Daten
+ @param data Zeiger auf Speicher mit zu schreibenden Daten
+
+ @return Adresse des Kommandos bei Erfolg, sonst NULL
+*/
+
+EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *master,
+ unsigned short node_address,
+ unsigned short offset,
+ unsigned int length,
+ const unsigned char *data)
+{
+ if (node_address == 0x0000)
+ EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n");
+
+ ECAT_FUNC_HEADER;
+
+ cmd->type = ECAT_CMD_NPWR;
+ cmd->address.phy.dev.node = node_address;
+ cmd->address.phy.mem = offset;
+
+ ECAT_FUNC_WRITE_FOOTER;
+}
+
+/***************************************************************/
+
+/**
+ Erstellt ein EtherCAT-APRD-Kommando.
+
+ Alloziert ein "autoincerement physical read"-Kommando
+ und fügt es in die Liste des Masters ein.
+
+ @param master EtherCAT-Master
+ @param ring_position (Negative) Position des Slaves im Bus
+ @param offset Physikalische Speicheradresse im Slave
+ @param length Länge der zu lesenden Daten
+
+ @return Adresse des Kommandos bei Erfolg, sonst NULL
+*/
+
+EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *master,
+ short ring_position,
+ unsigned short offset,
+ unsigned int length)
+{
+ ECAT_FUNC_HEADER;
+
+ cmd->type = ECAT_CMD_APRD;
+ cmd->address.phy.dev.pos = ring_position;
+ cmd->address.phy.mem = offset;
+
+ ECAT_FUNC_READ_FOOTER;
+}
+
+/***************************************************************/
+
+/**
+ Erstellt ein EtherCAT-APWR-Kommando.
+
+ Alloziert ein "autoincrement physical write"-Kommando
+ und fügt es in die Liste des Masters ein.
+
+ @param master EtherCAT-Master
+ @param ring_position (Negative) Position des Slaves im Bus
+ @param offset Physikalische Speicheradresse im Slave
+ @param length Länge der zu schreibenden Daten
+ @param data Zeiger auf Speicher mit zu schreibenden Daten
+
+ @return Adresse des Kommandos bei Erfolg, sonst NULL
+*/
+
+EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *master,
+ short ring_position,
+ unsigned short offset,
+ unsigned int length,
+ const unsigned char *data)
+{
+ ECAT_FUNC_HEADER;
+
+ cmd->type = ECAT_CMD_APWR;
+ cmd->address.phy.dev.pos = ring_position;
+ cmd->address.phy.mem = offset;
+
+ ECAT_FUNC_WRITE_FOOTER;
+}
+
+/***************************************************************/
+
+/**
+ Erstellt ein EtherCAT-BRD-Kommando.
+
+ Alloziert ein "broadcast read"-Kommando
+ und fügt es in die Liste des Masters ein.
+
+ @param master EtherCAT-Master
+ @param offset Physikalische Speicheradresse im Slave
+ @param length Länge der zu lesenden Daten
+
+ @return Adresse des Kommandos bei Erfolg, sonst NULL
+*/
+
+EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *master,
+ unsigned short offset,
+ unsigned int length)
+{
+ ECAT_FUNC_HEADER;
+
+ cmd->type = ECAT_CMD_BRD;
+ cmd->address.phy.dev.node = 0x0000;
+ cmd->address.phy.mem = offset;
+
+ ECAT_FUNC_READ_FOOTER;
+}
+
+/***************************************************************/
+
+/**
+ Erstellt ein EtherCAT-BWR-Kommando.
+
+ Alloziert ein "broadcast write"-Kommando
+ und fügt es in die Liste des Masters ein.
+
+ @param master EtherCAT-Master
+ @param offset Physikalische Speicheradresse im Slave
+ @param length Länge der zu schreibenden Daten
+ @param data Zeiger auf Speicher mit zu schreibenden Daten
+
+ @return Adresse des Kommandos bei Erfolg, sonst NULL
+*/
+
+EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *master,
+ unsigned short offset,
+ unsigned int length,
+ const unsigned char *data)
+{
+ ECAT_FUNC_HEADER;
+
+ cmd->type = ECAT_CMD_BWR;
+ cmd->address.phy.dev.node = 0x0000;
+ cmd->address.phy.mem = offset;
+
+ ECAT_FUNC_WRITE_FOOTER;
+}
+
+/***************************************************************/
+
+/**
+ Erstellt ein EtherCAT-LRW-Kommando.
+
+ Alloziert ein "logical read write"-Kommando
+ und fügt es in die Liste des Masters ein.
+
+ @param master EtherCAT-Master
+ @param offset Logische Speicheradresse
+ @param length Länge der zu lesenden/schreibenden Daten
+ @param data Zeiger auf Speicher mit zu lesenden/schreibenden Daten
+
+ @return Adresse des Kommandos bei Erfolg, sonst NULL
+*/
+
+EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *master,
+ unsigned int offset,
+ unsigned int length,
+ unsigned char *data)
+{
+ ECAT_FUNC_HEADER;
+
+ cmd->type = ECAT_CMD_LRW;
+ cmd->address.logical = offset;
+
+ ECAT_FUNC_WRITE_FOOTER;
+}
+
+/***************************************************************/
+
+/**
+ Alloziert ein neues Kommando aus dem Kommandoring.
+
+ Durchsucht den Kommandoring nach einem freien Kommando,
+ reserviert es und gibt dessen Adresse zurück.
+
+ @param master EtherCAT-Master
+
+ @return Adresse des Kommandos bei Erfolg, sonst NULL
+*/
+
+EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *master)
+{
+ int j;
+
+ for (j = 0; j < ECAT_COMMAND_RING_SIZE; j++) // Einmal rum suchen
+ {
+ // Solange suchen, bis freies Kommando gefunden
+ if (master->cmd_ring[master->cmd_ring_index].reserved == 0)
+ {
+ master->cmd_ring[master->cmd_ring_index].reserved = 1; // Belegen
+ return &master->cmd_ring[master->cmd_ring_index];
+ }
+
+ master->cmd_ring_index++;
+ master->cmd_ring_index %= ECAT_COMMAND_RING_SIZE;
+ }
+
+ EC_DBG(KERN_WARNING "EtherCAT: Command ring full!\n");
+
+ return NULL; // Nix gefunden
+}
+
+/***************************************************************/
+
+/**
+ Fügt ein Kommando in die Liste des Masters ein.
+
+ @param master EtherCAT-Master
+ @param cmd Zeiger auf das einzufügende Kommando
+*/
+
+void add_command(EtherCAT_master_t *master,
+ EtherCAT_command_t *cmd)
+{
+ EtherCAT_command_t **last_cmd;
+
+ // Find the address of the last pointer in the list
+ last_cmd = &(master->first_command);
+ while (*last_cmd) last_cmd = &(*last_cmd)->next;
+
+ // Let this pointer point to the new command
+ *last_cmd = cmd;
+}
+
+/***************************************************************/
+
+/**
+ Entfernt ein Kommando aus der Liste und gibt es frei.
+
+ Prüft erst, ob das Kommando in der Liste des Masters
+ ist. Wenn ja, wird es entfernt und die Reservierung wird
+ aufgehoben.
+
+ @param master EtherCAT-Master
+ @param rem_cmd Zeiger auf das zu entfernende Kommando
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+void EtherCAT_remove_command(EtherCAT_master_t *master,
+ EtherCAT_command_t *rem_cmd)
+{
+ EtherCAT_command_t **last_cmd;
+
+ last_cmd = &master->first_command;
+ while (*last_cmd)
+ {
+ if (*last_cmd == rem_cmd)
+ {
+ *last_cmd = rem_cmd->next;
+
+ EtherCAT_command_clear(rem_cmd);
+
+ return;
+ }
+
+ last_cmd = &(*last_cmd)->next;
+ }
+
+ EC_DBG(KERN_WARNING "EtherCAT: Trying to remove non-existent command!\n");
+}
+
+/***************************************************************/
+
+/**
+ Ändert den Zustand eines Slaves (asynchron).
+
+ Führt eine (asynchrone) Zustandsänderung bei einem Slave durch.
+
+ @param master EtherCAT-Master
+ @param slave Slave, dessen Zustand geändert werden soll
+ @param state_and_ack Neuer Zustand, evtl. mit gesetztem
+ Acknowledge-Flag
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_state_change(EtherCAT_master_t *master,
+ EtherCAT_slave_t *slave,
+ unsigned char state_and_ack)
+{
+ EtherCAT_command_t *cmd;
+ unsigned char data[2];
+ unsigned int tries_left;
+
+ data[0] = state_and_ack;
+ data[1] = 0x00;
+
+ if ((cmd = EtherCAT_write(master, slave->station_address,
+ 0x0120, 2, data)) == NULL)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Out of memory!\n", state_and_ack);
+ return -1;
+ }
+
+ if (EtherCAT_async_send_receive(master) != 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n", state_and_ack);
+ return -2;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Device did not respond!\n", state_and_ack);
+ return -3;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+
+ slave->requested_state = state_and_ack & 0x0F;
+
+ tries_left = 1000;
+
+ while (tries_left)
+ {
+ udelay(10);
+
+ if ((cmd = EtherCAT_read(master, slave->station_address,
+ 0x0130, 2)) == NULL)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Out of memory!\n", state_and_ack);
+ return -1;
+ }
+
+ if (EtherCAT_async_send_receive(master) != 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Unable to send!\n", state_and_ack);
+ return -2;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Device did not respond!\n", state_and_ack);
+ return -3;
+ }
+
+ if (cmd->data[0] & 0x10) // State change error
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Device refused state change (code %02X)!\n", state_and_ack, cmd->data[0]);
+ return -4;
+ }
+
+ if (cmd->data[0] == (state_and_ack & 0x0F)) // State change successful
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ break;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+
+ tries_left--;
+ }
+
+ if (!tries_left)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while checking!\n", state_and_ack);
+ return -5;
+ }
+
+ slave->current_state = state_and_ack & 0x0F;
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Konfiguriert einen Slave und setzt den Operational-Zustand.
+
+ Führt eine komplette Konfiguration eines Slaves durch,
+ setzt Sync-Manager und FMMU's, führt die entsprechenden
+ Zustandsübergänge durch, bis der Slave betriebsbereit ist.
+
+ @param master EtherCAT-Master
+ @param slave Zu aktivierender Slave
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_activate_slave(EtherCAT_master_t *master,
+ EtherCAT_slave_t *slave)
+{
+ EtherCAT_command_t *cmd;
+ const EtherCAT_slave_desc_t *desc;
+ unsigned char fmmu[16];
+ unsigned char data[256];
+
+ desc = slave->desc;
+
+ if (EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0)
+ {
+ return -1;
+ }
+
+ // Resetting FMMU's
+
+ memset(data, 0x00, 256);
+
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0600, 256, data)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -2;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+
+ // Resetting Sync Manager channels
+
+ if (desc->type != ECAT_ST_SIMPLE_NOSYNC)
+ {
+ memset(data, 0x00, 256);
+
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0800, 256, data)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -2;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+ }
+
+ // Init Mailbox communication
+
+ if (desc->type == ECAT_ST_MAILBOX)
+ {
+ if (desc->sm0)
+ {
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -3;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+ }
+
+ if (desc->sm1)
+ {
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -2;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+ }
+ }
+
+ // Change state to PREOP
+
+ if (EtherCAT_state_change(master, slave, ECAT_STATE_PREOP) != 0)
+ {
+ return -5;
+ }
+
+ // Set FMMU's
+
+ if (desc->fmmu0)
+ {
+ memcpy(fmmu, desc->fmmu0, 16);
+
+ fmmu[0] = slave->logical_address0 & 0x000000FF;
+ fmmu[1] = (slave->logical_address0 & 0x0000FF00) >> 8;
+ fmmu[2] = (slave->logical_address0 & 0x00FF0000) >> 16;
+ fmmu[3] = (slave->logical_address0 & 0xFF000000) >> 24;
+
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0600, 16, fmmu)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -2;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+ }
+
+ // Set Sync Managers
+
+ if (desc->type != ECAT_ST_MAILBOX)
+ {
+ if (desc->sm0)
+ {
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -3;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+ }
+
+ if (desc->sm1)
+ {
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -3;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+ }
+ }
+
+ if (desc->sm2)
+ {
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0810, 8, desc->sm2)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -3;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+ }
+
+ if (desc->sm3)
+ {
+ if ((cmd = EtherCAT_write(master, slave->station_address, 0x0818, 8, desc->sm3)) == NULL)
+ return -1;
+
+ if (EtherCAT_async_send_receive(master) < 0)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ return -1;
+ }
+
+ if (cmd->working_counter != 1)
+ {
+ EtherCAT_remove_command(master, cmd);
+
+ EC_DBG(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not respond!\n",
+ slave->station_address);
+ return -3;
+ }
+
+ EtherCAT_remove_command(master, cmd);
+ }
+
+ // Change state to SAVEOP
+ if (EtherCAT_state_change(master, slave, ECAT_STATE_SAVEOP) != 0)
+ {
+ return -12;
+ }
+
+ // Change state to OP
+ if (EtherCAT_state_change(master, slave, ECAT_STATE_OP) != 0)
+ {
+ return -13;
+ }
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Setzt einen Slave zurück in den Init-Zustand.
+
+ @param master EtherCAT-Master
+ @param slave Zu deaktivierender Slave
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_deactivate_slave(EtherCAT_master_t *master,
+ EtherCAT_slave_t *slave)
+{
+ if (EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0)
+ {
+ return -1;
+ }
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Aktiviert alle Slaves.
+
+ @see EtherCAT_activate_slave
+
+ @param master EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_activate_all_slaves(EtherCAT_master_t *master)
+{
+ unsigned int i;
+
+ for (i = 0; i < master->slave_count; i++)
+ {
+ EC_DBG("Activate Slave: %d\n",i);
+
+ if (EtherCAT_activate_slave(master, &master->slaves[i]) < 0)
+ {
+ return -1;
+ }
+
+ EC_DBG("done...\n");
+ }
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Deaktiviert alle Slaves.
+
+ @see EtherCAT_deactivate_slave
+
+ @param master EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *master)
+{
+ unsigned int i;
+ int ret = 0;
+
+ for (i = 0; i < master->slave_count; i++)
+ {
+ EC_DBG("Deactivate Slave: %d\n",i);
+
+ if (EtherCAT_deactivate_slave(master, &master->slaves[i]) < 0)
+ {
+ ret = -1;
+ }
+
+ EC_DBG("done...\n");
+ }
+
+ return ret;
+}
+
+/***************************************************************/
+
+/**
+ Sendet alle Prozessdaten an die Slaves.
+
+ Erstellt ein "logical read write"-Kommando mit den
+ Prozessdaten des Masters und sendet es an den Bus.
+
+ @param master EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_write_process_data(EtherCAT_master_t *master)
+{
+ if (master->process_data_command)
+ {
+ EtherCAT_remove_command(master, master->process_data_command);
+ EtherCAT_command_clear(master->process_data_command);
+ master->process_data_command = NULL;
+ }
+
+ if ((master->process_data_command
+ = EtherCAT_logical_read_write(master, 0,
+ master->process_data_length,
+ master->process_data)) == NULL)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not allocate process data command!\n");
+ return -1;
+ }
+
+ if (EtherCAT_send(master) < 0)
+ {
+ EtherCAT_remove_command(master, master->process_data_command);
+ EtherCAT_command_clear(master->process_data_command);
+ master->process_data_command = NULL;
+ EC_DBG(KERN_ERR "EtherCAT: Could not send process data command!\n");
+ return -1;
+ }
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Empfängt alle Prozessdaten von den Slaves.
+
+ Empfängt ein zuvor gesendetes "logical read write"-Kommando
+ und kopiert die empfangenen daten in den Prozessdatenspeicher
+ des Masters.
+
+ @param master EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_read_process_data(EtherCAT_master_t *master)
+{
+ int ret = -1;
+
+ if (!master->process_data_command)
+ {
+ EC_DBG(KERN_WARNING "EtherCAT: No process data command available!\n");
+ return -1;
+ }
+
+ if (EtherCAT_receive(master) < 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");
+ }
+ else if (master->process_data_command->state != ECAT_CS_RECEIVED)
+ {
+ EC_DBG(KERN_WARNING "EtherCAT: Process data command not received!\n");
+ }
+ else
+ {
+ // Daten von Kommando in Prozessdaten des Master kopieren
+ memcpy(master->process_data, master->process_data_command->data, master->process_data_length);
+ ret = 0;
+ }
+
+ EtherCAT_remove_command(master, master->process_data_command);
+ EtherCAT_command_clear(master->process_data_command);
+ master->process_data_command = NULL;
+
+ return ret;
+}
+
+/***************************************************************/
+
+/**
+ Setzt einen Byte-Wert im Speicher.
+
+ @param data Startadresse
+ @param offset Byte-Offset
+ @param value Wert
+*/
+
+void set_byte(unsigned char *data,
+ unsigned int offset,
+ unsigned char value)
+{
+ data[offset] = value;
+}
+
+/***************************************************************/
+
+/**
+ Setzt einen Word-Wert im Speicher.
+
+ @param data Startadresse
+ @param offset Byte-Offset
+ @param value Wert
+*/
+
+void set_word(unsigned char *data,
+ unsigned int offset,
+ unsigned int value)
+{
+ data[offset] = value & 0xFF;
+ data[offset + 1] = (value & 0xFF00) >> 8;
+}
+
+/***************************************************************/