--- a/drivers/ec_master.c Fri Nov 18 10:30:01 2005 +0000
+++ b/drivers/ec_master.c Fri Nov 18 11:46:20 2005 +0000
@@ -25,7 +25,7 @@
@param master Zeiger auf den zu initialisierenden
EtherCAT-Master
- @param dev Zeiger auf das EtherCAT-gerät, mit dem der
+ @param dev Zeiger auf das EtherCAT-Gerät, mit dem der
Master arbeiten soll
@return 0 bei Erfolg, sonst < 0 (= dev ist NULL)
@@ -96,10 +96,12 @@
if (EtherCAT_simple_send(master, cmd) < 0) return -1;
- tries_left = 100;
- while (cmd->state == ECAT_CS_SENT && tries_left)
- {
- udelay(10);
+ EtherCAT_device_call_isr(master->dev);
+
+ tries_left = 1000;
+ while (master->dev->state == ECAT_DS_SENT && tries_left)
+ {
+ udelay(1);
EtherCAT_device_call_isr(master->dev);
tries_left--;
}
@@ -137,6 +139,13 @@
length = cmd->data_length + 12;
framelength = length + 2;
+
+ if (framelength > ECAT_FRAME_BUFFER_SIZE)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Frame too long (%i)!\n", framelength);
+ return -1;
+ }
+
if (framelength < 46) framelength = 46;
if (master->debug_level > 0)
@@ -223,32 +232,32 @@
int EtherCAT_simple_receive(EtherCAT_master_t *master,
EtherCAT_command_t *cmd)
{
- unsigned int rx_data_length, length;
+ unsigned int length;
+ int receive_ret;
unsigned char command_type, command_index;
- rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
- ECAT_FRAME_BUFFER_SIZE);
-
- if (rx_data_length < 2)
+ if ((receive_ret = EtherCAT_device_receive(master->dev,
+ master->rx_data)) < 0)
+ {
+ return -1;
+ }
+
+ master->rx_data_length = (unsigned int) receive_ret;
+
+ if (master->rx_data_length < 2)
{
EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT header!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
+ output_debug_data(master);
return -1;
}
// Länge des gesamten Frames prüfen
length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
- if (length > rx_data_length)
+ if (length > master->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");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
+ output_debug_data(master);
return -1;
}
@@ -256,13 +265,10 @@
command_index = master->rx_data[2 + 1];
length = (master->rx_data[2 + 6] & 0xFF) | ((master->rx_data[2 + 7] & 0x07) << 8);
- if (rx_data_length - 2 < length + 12)
+ if (master->rx_data_length - 2 < length + 12)
{
EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
+ output_debug_data(master);
return -1;
}
@@ -283,10 +289,7 @@
else
{
EC_DBG(KERN_WARNING "EtherCAT: WARNING - Send/Receive anomaly!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
+ output_debug_data(master);
}
master->dev->state = ECAT_DS_READY;
@@ -991,8 +994,24 @@
int EtherCAT_read_process_data(EtherCAT_master_t *master)
{
+ unsigned int tries_left;
+
EtherCAT_device_call_isr(master->dev);
+ tries_left = 1000;
+ while (master->dev->state == ECAT_DS_SENT && tries_left)
+ {
+ udelay(1);
+ EtherCAT_device_call_isr(master->dev);
+ tries_left--;
+ }
+
+ if (!tries_left)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Timeout while receiving process data!\n");
+ return -1;
+ }
+
if (EtherCAT_simple_receive(master, &master->process_data_command) < 0)
{
EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");
@@ -1029,58 +1048,37 @@
/***************************************************************/
/**
- 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;
-}
-
-/***************************************************************/
-
-/**
Gibt Frame-Inhalte zwecks Debugging aus.
@param data Startadresse
@param length Länge der Daten
*/
-void output_debug_data(unsigned char *data, unsigned int length)
+void output_debug_data(const EtherCAT_master_t *master)
{
unsigned int i;
+ EC_DBG(KERN_DEBUG "EtherCAT: tx_data content (%i Bytes):\n",
+ master->tx_data_length);
+
EC_DBG(KERN_DEBUG);
- for (i = 0; i < length; i++)
- {
- EC_DBG("%02X ", data[i]);
+ 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 (%i Bytes):\n",
+ master->rx_data_length);
+
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < master->rx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->rx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+}
+
+/***************************************************************/