--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/master.c Tue Jan 17 18:28:15 2006 +0000
@@ -0,0 +1,1114 @@
+/******************************************************************************
+ *
+ * m a s t e r . c
+ *
+ * Methoden für einen EtherCAT-Master.
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+#include <linux/kernel.h>
+#include <linux/string.h>
+#include <linux/slab.h>
+#include <linux/delay.h>
+
+#include "globals.h"
+#include "master.h"
+#include "device.h"
+#include "command.h"
+
+/*****************************************************************************/
+
+// Prototypen
+
+int ec_simple_send(ec_master_t *, ec_command_t *);
+int ec_simple_receive(ec_master_t *, ec_command_t *);
+void ec_output_debug_data(const ec_master_t *);
+int ec_read_slave_information(ec_master_t *, unsigned short, unsigned short,
+ unsigned int *);
+void ec_output_lost_frames(ec_master_t *);
+
+/*****************************************************************************/
+
+/**
+ Konstruktor des EtherCAT-Masters.
+
+ @param master Zeiger auf den zu initialisierenden EtherCAT-Master
+*/
+
+void ec_master_init(ec_master_t *master)
+{
+ master->bus_slaves = NULL;
+ master->bus_slaves_count = 0;
+ master->device_registered = 0;
+ master->command_index = 0x00;
+ master->tx_data_length = 0;
+ master->rx_data_length = 0;
+ master->domain_count = 0;
+ master->debug_level = 0;
+ master->bus_time = 0;
+ master->frames_lost = 0;
+ master->t_lost_output = 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 ec_master_clear(ec_master_t *master)
+{
+ if (master->bus_slaves) {
+ kfree(master->bus_slaves);
+ master->bus_slaves = NULL;
+ }
+
+ ec_device_clear(&master->device);
+
+ master->domain_count = 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Öffnet das EtherCAT-Geraet des Masters.
+
+ @param master Der EtherCAT-Master
+
+ @return 0, wenn alles o.k., < 0, wenn das Geraet nicht geoeffnet werden
+ konnte.
+*/
+
+int ec_master_open(ec_master_t *master)
+{
+ if (!master->device_registered) {
+ printk(KERN_ERR "EtherCAT: No device registered!\n");
+ return -1;
+ }
+
+ if (ec_device_open(&master->device) < 0) {
+ printk(KERN_ERR "EtherCAT: Could not open device!\n");
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Schliesst das EtherCAT-Geraet, auf dem der Master arbeitet.
+
+ @param master Der EtherCAT-Master
+ @param device Das EtherCAT-Geraet
+*/
+
+void ec_master_close(ec_master_t *master)
+{
+ if (!master->device_registered) {
+ printk(KERN_WARNING "EtherCAT: Warning -"
+ " Trying to close an unregistered device!\n");
+ return;
+ }
+
+ if (ec_device_close(&master->device) < 0) {
+ printk(KERN_WARNING "EtherCAT: Warning - Could not close device!\n");
+ }
+}
+
+/*****************************************************************************/
+
+/**
+ Sendet ein einzelnes Kommando in einem Frame und
+ wartet auf dessen Empfang.
+
+ @param master EtherCAT-Master
+ @param cmd Kommando zum Senden/Empfangen
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int ec_simple_send_receive(ec_master_t *master, ec_command_t *cmd)
+{
+ unsigned int tries_left;
+
+ if (unlikely(ec_simple_send(master, cmd) < 0))
+ return -1;
+
+ tries_left = 20;
+
+ do
+ {
+ udelay(1);
+ ec_device_call_isr(&master->device);
+ tries_left--;
+ }
+ while (unlikely(master->device.state == EC_DEVICE_STATE_SENT && tries_left));
+
+ if (unlikely(ec_simple_receive(master, cmd) < 0))
+ return -1;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Sendet ein einzelnes Kommando in einem Frame.
+
+ @param master EtherCAT-Master
+ @param cmd Kommando zum Senden
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int ec_simple_send(ec_master_t *master, ec_command_t *cmd)
+{
+ unsigned int length, framelength, i;
+
+ if (unlikely(master->debug_level > 0)) {
+ printk(KERN_DEBUG "EtherCAT: ec_simple_send\n");
+ }
+
+ if (unlikely(cmd->state != EC_COMMAND_STATE_READY)) {
+ printk(KERN_WARNING "EtherCAT: cmd not in ready state!\n");
+ }
+
+ length = cmd->data_length + 12;
+ framelength = length + 2;
+
+ if (unlikely(framelength > EC_FRAME_SIZE)) {
+ printk(KERN_ERR "EtherCAT: Frame too long (%i)!\n", framelength);
+ return -1;
+ }
+
+ if (framelength < 46) framelength = 46;
+
+ if (unlikely(master->debug_level > 0)) {
+ printk(KERN_DEBUG "EtherCAT: Frame length: %i\n", framelength);
+ }
+
+ master->tx_data[0] = length & 0xFF;
+ master->tx_data[1] = ((length & 0x700) >> 8) | 0x10;
+
+ cmd->index = master->command_index;
+ master->command_index = (master->command_index + 1) % 0x0100;
+
+ if (unlikely(master->debug_level > 0)) {
+ printk(KERN_DEBUG "EtherCAT: Sending command index %i\n", cmd->index);
+ }
+
+ cmd->state = EC_COMMAND_STATE_SENT;
+
+ master->tx_data[2 + 0] = cmd->type;
+ master->tx_data[2 + 1] = cmd->index;
+ master->tx_data[2 + 2] = cmd->address.raw[0];
+ master->tx_data[2 + 3] = cmd->address.raw[1];
+ master->tx_data[2 + 4] = cmd->address.raw[2];
+ master->tx_data[2 + 5] = cmd->address.raw[3];
+ master->tx_data[2 + 6] = cmd->data_length & 0xFF;
+ master->tx_data[2 + 7] = (cmd->data_length & 0x700) >> 8;
+ master->tx_data[2 + 8] = 0x00;
+ master->tx_data[2 + 9] = 0x00;
+
+ if (likely(cmd->type == EC_COMMAND_APWR
+ || cmd->type == EC_COMMAND_NPWR
+ || cmd->type == EC_COMMAND_BWR
+ || cmd->type == EC_COMMAND_LRW)) // Write commands
+ {
+ for (i = 0; i < cmd->data_length; i++)
+ master->tx_data[2 + 10 + i] = cmd->data[i];
+ }
+ else // Read commands
+ {
+ for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = 0x00;
+ }
+
+ master->tx_data[2 + 10 + cmd->data_length] = 0x00;
+ master->tx_data[2 + 11 + cmd->data_length] = 0x00;
+
+ // Pad with zeros
+ for (i = cmd->data_length + 12 + 2; i < 46; i++) master->tx_data[i] = 0x00;
+
+ master->tx_data_length = framelength;
+
+ if (unlikely(master->debug_level > 0)) {
+ printk(KERN_DEBUG "EtherCAT: Device send...\n");
+ }
+
+ // Send frame
+ if (unlikely(ec_device_send(&master->device, master->tx_data,
+ framelength) != 0)) {
+ printk(KERN_ERR "EtherCAT: Could not send!\n");
+ return -1;
+ }
+
+ if (unlikely(master->debug_level > 0)) {
+ printk(KERN_DEBUG "EtherCAT: ec_simple_send done.\n");
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Wartet auf den Empfang eines einzeln gesendeten
+ Kommandos.
+
+ @param master EtherCAT-Master
+ @param cmd Gesendetes Kommando
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int ec_simple_receive(ec_master_t *master, ec_command_t *cmd)
+{
+ unsigned int length;
+ int ret;
+ unsigned char command_type, command_index;
+
+ if (unlikely((ret = ec_device_receive(&master->device, master->rx_data)) < 0))
+ return -1;
+
+ master->rx_data_length = (unsigned int) ret;
+
+ if (unlikely(master->rx_data_length < 2)) {
+ printk(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT"
+ " header!\n");
+ ec_output_debug_data(master);
+ return -1;
+ }
+
+ // Länge des gesamten Frames prüfen
+ length = ((master->rx_data[1] & 0x07) << 8)
+ | (master->rx_data[0] & 0xFF);
+
+ if (unlikely(length > master->rx_data_length)) {
+ printk(KERN_ERR "EtherCAT: Received corrupted frame (length does"
+ " not match)!\n");
+ ec_output_debug_data(master);
+ return -1;
+ }
+
+ command_type = master->rx_data[2];
+ command_index = master->rx_data[2 + 1];
+ length = (master->rx_data[2 + 6] & 0xFF)
+ | ((master->rx_data[2 + 7] & 0x07) << 8);
+
+ if (unlikely(master->rx_data_length - 2 < length + 12)) {
+ printk(KERN_ERR "EtherCAT: Received frame with"
+ " incomplete command data!\n");
+ ec_output_debug_data(master);
+ return -1;
+ }
+
+ if (likely(cmd->state == EC_COMMAND_STATE_SENT
+ && cmd->type == command_type
+ && cmd->index == command_index
+ && cmd->data_length == length))
+ {
+ cmd->state = EC_COMMAND_STATE_RECEIVED;
+
+ // Empfangene Daten in Kommandodatenspeicher kopieren
+ memcpy(cmd->data, master->rx_data + 2 + 10, length);
+
+ // Working-Counter setzen
+ cmd->working_counter
+ = ((master->rx_data[length + 2 + 10] & 0xFF)
+ | ((master->rx_data[length + 2 + 11] & 0xFF) << 8));
+
+ if (unlikely(master->debug_level > 1)) {
+ ec_output_debug_data(master);
+ }
+ }
+ else
+ {
+ printk(KERN_WARNING "EtherCAT: WARNING - Send/Receive anomaly!\n");
+ ec_output_debug_data(master);
+ }
+
+ master->device.state = EC_DEVICE_STATE_READY;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Durchsucht den Bus nach Slaves.
+
+ @param master Der EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int ec_scan_for_slaves(ec_master_t *master)
+{
+ ec_command_t cmd;
+ ec_slave_t *cur;
+ unsigned int i, j;
+ unsigned char data[2];
+
+ // Determine number of slaves on bus
+
+ ec_command_broadcast_read(&cmd, 0x0000, 4);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ master->bus_slaves_count = cmd.working_counter;
+ printk("EtherCAT: Found %i slaves on bus.\n", master->bus_slaves_count);
+
+ if (!master->bus_slaves_count) return 0;
+
+ if (!(master->bus_slaves = (ec_slave_t *) kmalloc(master->bus_slaves_count
+ * sizeof(ec_slave_t),
+ GFP_KERNEL))) {
+ printk(KERN_ERR "EtherCAT: Could not allocate memory for bus slaves!\n");
+ return -1;
+ }
+
+ // For every slave in the list
+ for (i = 0; i < master->bus_slaves_count; i++)
+ {
+ cur = master->bus_slaves + i;
+
+ ec_slave_init(cur);
+
+ // Read base data
+
+ ec_command_read(&cmd, cur->station_address, 0x0000, 4);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(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);
+
+ // Read identification from "Slave Information Interface" (SII)
+
+ if (unlikely(ec_read_slave_information(master, cur->station_address,
+ 0x0008, &cur->vendor_id) != 0)) {
+ printk(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
+ return -1;
+ }
+
+ if (unlikely(ec_read_slave_information(master, cur->station_address,
+ 0x000A, &cur->product_code) != 0)) {
+ printk(KERN_ERR "EtherCAT: Could not read SII product code!\n");
+ return -1;
+ }
+
+ if (unlikely(ec_read_slave_information(master, cur->station_address,
+ 0x000C,
+ &cur->revision_number) != 0)) {
+ printk(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
+ return -1;
+ }
+
+ if (unlikely(ec_read_slave_information(master, cur->station_address,
+ 0x000E,
+ &cur->serial_number) != 0)) {
+ printk(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
+ return -1;
+ }
+
+ // Search for identification in "database"
+
+ for (j = 0; j < slave_ident_count; j++)
+ {
+ if (unlikely(slave_idents[j].vendor_id == cur->vendor_id
+ && slave_idents[j].product_code == cur->product_code))
+ {
+ cur->desc = slave_idents[j].desc;
+ break;
+ }
+ }
+
+ if (unlikely(!cur->desc)) {
+ printk(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at "
+ " position %i.\n", cur->vendor_id, cur->product_code, 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;
+
+ ec_command_position_write(&cmd, cur->ring_position, 0x0010, 2, data);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Slave %i did not repond"
+ " while writing station address!\n", i);
+ return -1;
+ }
+ }
+
+ return 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 ec_read_slave_information(ec_master_t *master,
+ unsigned short int node_address,
+ unsigned short int offset,
+ unsigned int *target)
+{
+ ec_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;
+
+ ec_command_write(&cmd, node_address, 0x502, 6, data);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n",
+ node_address);
+ return -1;
+ }
+
+ // 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.
+
+ tries_left = 100;
+ while (likely(tries_left))
+ {
+ udelay(10);
+
+ ec_command_read(&cmd, node_address, 0x502, 10);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) != 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: SII-read status -"
+ " Slave %04X did not respond!\n", node_address);
+ return -1;
+ }
+
+ if (likely((cmd.data[1] & 0x81) == 0)) {
+ memcpy(target, cmd.data + 6, 4);
+ break;
+ }
+
+ tries_left--;
+ }
+
+ if (unlikely(!tries_left)) {
+ printk(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n",
+ node_address);
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ 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 ec_state_change(ec_master_t *master, ec_slave_t *slave,
+ unsigned char state_and_ack)
+{
+ ec_command_t cmd;
+ unsigned char data[2];
+ unsigned int tries_left;
+
+ data[0] = state_and_ack;
+ data[1] = 0x00;
+
+ ec_command_write(&cmd, slave->station_address, 0x0120, 2, data);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) != 0)) {
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n",
+ state_and_ack);
+ return -1;
+ }
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Device \"%s %s\""
+ " (%d) did not respond!\n", state_and_ack, slave->desc->vendor_name,
+ slave->desc->product_name, slave->ring_position * (-1));
+ return -1;
+ }
+
+ slave->requested_state = state_and_ack & 0x0F;
+
+ tries_left = 100;
+ while (likely(tries_left))
+ {
+ udelay(10);
+
+ ec_command_read(&cmd, slave->station_address, 0x0130, 2);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) != 0)) {
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Unable to"
+ " send!\n", state_and_ack);
+ return -1;
+ }
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Device did not"
+ " respond!\n", state_and_ack);
+ return -1;
+ }
+
+ if (unlikely(cmd.data[0] & 0x10)) { // State change error
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Device refused"
+ " state change (code %02X)!\n", state_and_ack, cmd.data[0]);
+ return -1;
+ }
+
+ if (likely(cmd.data[0] == (state_and_ack & 0x0F))) {
+ // State change successful
+ break;
+ }
+
+ tries_left--;
+ }
+
+ if (unlikely(!tries_left)) {
+ printk(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while"
+ " checking!\n", state_and_ack);
+ return -1;
+ }
+
+ slave->current_state = state_and_ack & 0x0F;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Gibt Frame-Inhalte zwecks Debugging aus.
+
+ @param master EtherCAT-Master
+*/
+
+void ec_output_debug_data(const ec_master_t *master)
+{
+ unsigned int i;
+
+ printk(KERN_DEBUG "EtherCAT: tx_data content (%i Bytes):\n",
+ master->tx_data_length);
+
+ printk(KERN_DEBUG);
+ for (i = 0; i < master->tx_data_length; i++)
+ {
+ printk("%02X ", master->tx_data[i]);
+ if ((i + 1) % 16 == 0) printk("\n" KERN_DEBUG);
+ }
+ printk("\n");
+
+ printk(KERN_DEBUG "EtherCAT: rx_data content (%i Bytes):\n",
+ master->rx_data_length);
+
+ printk(KERN_DEBUG);
+ for (i = 0; i < master->rx_data_length; i++)
+ {
+ printk("%02X ", master->rx_data[i]);
+ if ((i + 1) % 16 == 0) printk("\n" KERN_DEBUG);
+ }
+ printk("\n");
+}
+
+/*****************************************************************************/
+
+/**
+ Gibt von Zeit zu Zeit die Anzahl verlorener Frames aus.
+
+ @param master EtherCAT-Master
+*/
+
+void ec_output_lost_frames(ec_master_t *master)
+{
+ unsigned long int t;
+
+ if (master->frames_lost) {
+ rdtscl(t);
+ if ((t - master->t_lost_output) / cpu_khz > 1000) {
+ printk(KERN_ERR "EtherCAT: %u frame(s) LOST!\n", master->frames_lost);
+ master->frames_lost = 0;
+ master->t_lost_output = t;
+ }
+ }
+}
+
+/******************************************************************************
+ *
+ * Echtzeitschnittstelle
+ *
+ *****************************************************************************/
+
+/**
+ Registriert einen Slave beim Master.
+
+ @param master Der EtherCAT-Master
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+void *EtherCAT_rt_register_slave(ec_master_t *master, unsigned int bus_index,
+ const char *vendor_name,
+ const char *product_name, unsigned int domain)
+{
+ ec_slave_t *slave;
+ ec_domain_t *dom;
+ unsigned int j;
+
+ if (bus_index >= master->bus_slaves_count) {
+ printk(KERN_ERR "EtherCAT: Illegal bus index! (%i / %i)\n", bus_index,
+ master->bus_slaves_count);
+ return NULL;
+ }
+
+ slave = master->bus_slaves + bus_index;
+
+ if (slave->process_data) {
+ printk(KERN_ERR "EtherCAT: Slave %i is already registered!\n", bus_index);
+ return NULL;
+ }
+
+ if (strcmp(vendor_name, slave->desc->vendor_name) ||
+ strcmp(product_name, slave->desc->product_name)) {
+ printk(KERN_ERR "Invalid Slave Type! Requested: \"%s %s\", present: \"%s"
+ "%s\".\n", vendor_name, product_name, slave->desc->vendor_name,
+ slave->desc->product_name);
+ return NULL;
+ }
+
+ // Check, if process data domain already exists...
+ dom = NULL;
+ for (j = 0; j < master->domain_count; j++) {
+ if (domain == master->domains[j].number) {
+ dom = master->domains + j;
+ }
+ }
+
+ // Create process data domain
+ if (!dom) {
+ if (master->domain_count > EC_MAX_DOMAINS - 1) {
+ printk(KERN_ERR "EtherCAT: Too many domains!\n");
+ return NULL;
+ }
+
+ dom = master->domains + master->domain_count;
+ ec_domain_init(dom);
+ dom->number = domain;
+ dom->logical_offset = master->domain_count * EC_FRAME_SIZE;
+ master->domain_count++;
+ }
+
+ if (dom->data_size + slave->desc->process_data_size > EC_FRAME_SIZE - 14) {
+ printk(KERN_ERR "EtherCAT: Oversized domain %i: %i / %i Bytes!\n",
+ dom->number, dom->data_size + slave->desc->process_data_size,
+ EC_FRAME_SIZE - 14);
+ return NULL;
+ }
+
+ slave->process_data = dom->data + dom->data_size;
+ dom->data_size += slave->desc->process_data_size;
+
+ return slave->process_data;
+}
+
+/*****************************************************************************/
+
+/**
+ 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_rt_activate_slaves(ec_master_t *master)
+{
+ unsigned int i;
+ ec_slave_t *slave;
+ ec_command_t cmd;
+ const ec_slave_desc_t *desc;
+ unsigned char fmmu[16];
+ unsigned char data[256];
+
+ for (i = 0; i < master->bus_slaves_count; i++)
+ {
+ slave = master->bus_slaves + i;
+ desc = slave->desc;
+
+ if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_INIT) != 0))
+ return -1;
+
+ // Resetting FMMU's
+
+ memset(data, 0x00, 256);
+
+ ec_command_write(&cmd, slave->station_address, 0x0600, 256, data);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not"
+ " respond!\n", slave->station_address);
+ return -1;
+ }
+
+ // Resetting Sync Manager channels
+
+ if (desc->type != EC_NOSYNC_SLAVE)
+ {
+ memset(data, 0x00, 256);
+
+ ec_command_write(&cmd, slave->station_address, 0x0800, 256, data);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not"
+ " respond!\n", slave->station_address);
+ return -1;
+ }
+ }
+
+ // Init Mailbox communication
+
+ if (desc->type == EC_MAILBOX_SLAVE)
+ {
+ if (desc->sm0)
+ {
+ ec_command_write(&cmd, slave->station_address, 0x0800, 8,
+ desc->sm0);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
+ return -1;
+ }
+ }
+
+ if (desc->sm1)
+ {
+ ec_command_write(&cmd, slave->station_address, 0x0808, 8,
+ desc->sm1);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Setting SM1 -"
+ " Slave %04X did not respond!\n",
+ slave->station_address);
+ return -1;
+ }
+ }
+ }
+
+ // Change state to PREOP
+
+ if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_PREOP) != 0))
+ return -1;
+
+ // Set FMMU's
+
+ if (desc->fmmu0)
+ {
+ if (unlikely(!slave->process_data)) {
+ printk(KERN_ERR "EtherCAT: Warning - Slave %04X is not assigned to any"
+ " process data object!\n", slave->station_address);
+ return -1;
+ }
+
+ memcpy(fmmu, desc->fmmu0, 16);
+
+ fmmu[0] = slave->logical_address & 0x000000FF;
+ fmmu[1] = (slave->logical_address & 0x0000FF00) >> 8;
+ fmmu[2] = (slave->logical_address & 0x00FF0000) >> 16;
+ fmmu[3] = (slave->logical_address & 0xFF000000) >> 24;
+
+ ec_command_write(&cmd, slave->station_address, 0x0600, 16, fmmu);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
+ return -1;
+ }
+ }
+
+ // Set Sync Managers
+
+ if (desc->type != EC_MAILBOX_SLAVE)
+ {
+ if (desc->sm0)
+ {
+ ec_command_write(&cmd, slave->station_address, 0x0800, 8,
+ desc->sm0);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not"
+ " respond!\n", slave->station_address);
+ return -1;
+ }
+ }
+
+ if (desc->sm1)
+ {
+ ec_command_write(&cmd, slave->station_address, 0x0808, 8,
+ desc->sm1);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not"
+ " respond!\n", slave->station_address);
+ return -1;
+ }
+ }
+ }
+
+ if (desc->sm2)
+ {
+ ec_command_write(&cmd, slave->station_address, 0x0810, 8, desc->sm2);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not"
+ " respond!\n", slave->station_address);
+ return -1;
+ }
+ }
+
+ if (desc->sm3)
+ {
+ ec_command_write(&cmd, slave->station_address, 0x0818, 8, desc->sm3);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not"
+ " respond!\n", slave->station_address);
+ return -1;
+ }
+ }
+
+ // Change state to SAVEOP
+ if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_SAVEOP) != 0))
+ return -1;
+
+ // Change state to OP
+ if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_OP) != 0))
+ return -1;
+ }
+
+ 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_rt_deactivate_slaves(ec_master_t *master)
+{
+ ec_slave_t *slave;
+ unsigned int i;
+
+ for (i = 0; i < master->bus_slaves_count; i++)
+ {
+ slave = master->bus_slaves + 1;
+
+ if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_INIT) != 0))
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Sendet und empfängt Prozessdaten der angegebenen Domäne
+
+ @param master EtherCAT-Master
+ domain Domäne
+ timeout_us Timeout in Mikrosekunden
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_rt_domain_cycle(ec_master_t *master, unsigned int domain,
+ unsigned int timeout_us)
+{
+ unsigned int i;
+ ec_domain_t *dom;
+ unsigned long start_ticks, end_ticks, timeout_ticks;
+
+ ec_output_lost_frames(master); // Evtl. verlorene Frames ausgeben
+
+ // Domäne bestimmen
+ dom = NULL;
+ for (i = 0; i < master->domain_count; i++) {
+ if (master->domains[i].number == domain) {
+ dom = master->domains + i;
+ break;
+ }
+ }
+
+ if (unlikely(!dom)) {
+ printk(KERN_ERR "EtherCAT: No such domain: %i!\n", domain);
+ return -1;
+ }
+
+ ec_command_logical_read_write(&dom->command, dom->logical_offset,
+ dom->data_size, dom->data);
+
+ rdtscl(start_ticks); // Sendezeit nehmen
+
+ if (unlikely(ec_simple_send(master, &dom->command) < 0)) {
+ printk(KERN_ERR "EtherCAT: Could not send process data command!\n");
+ return -1;
+ }
+
+ timeout_ticks = timeout_us * cpu_khz / 1000;
+
+ // Warten
+ do {
+ ec_device_call_isr(&master->device);
+ rdtscl(end_ticks); // Empfangszeit nehmen
+ }
+ while (unlikely(master->device.state == EC_DEVICE_STATE_SENT
+ && end_ticks - start_ticks < timeout_ticks));
+
+ master->bus_time = (end_ticks - start_ticks) * 1000 / cpu_khz;
+
+ if (unlikely(end_ticks - start_ticks >= timeout_ticks)) {
+ master->device.state = EC_DEVICE_STATE_READY;
+ master->frames_lost++;
+ ec_output_lost_frames(master);
+ return -1;
+ }
+
+ if (unlikely(ec_simple_receive(master, &dom->command) < 0)) {
+ printk(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");
+ return -1;
+ }
+
+ if (unlikely(dom->command.state != EC_COMMAND_STATE_RECEIVED)) {
+ printk(KERN_WARNING "EtherCAT: Process data command not received!\n");
+ return -1;
+ }
+
+ if (dom->command.working_counter != dom->response_count) {
+ dom->response_count = dom->command.working_counter;
+ printk(KERN_INFO "EtherCAT: Domain %i State change - %i slaves"
+ " responding.\n", dom->number, dom->response_count);
+ }
+
+ // Daten vom Kommando in den Prozessdatenspeicher kopieren
+ memcpy(dom->data, dom->command.data, dom->data_size);
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+EXPORT_SYMBOL(EtherCAT_rt_register_slave);
+EXPORT_SYMBOL(EtherCAT_rt_activate_slaves);
+EXPORT_SYMBOL(EtherCAT_rt_deactivate_slaves);
+EXPORT_SYMBOL(EtherCAT_rt_domain_cycle);
+
+/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:2 ***
+;;; End: ***
+*/