/******************************************************************************
*
* s l a v e . c
*
* Methoden für einen EtherCAT-Slave.
*
* $Id$
*
*****************************************************************************/
#include <linux/module.h>
#include <linux/delay.h>
#include "globals.h"
#include "slave.h"
#include "frame.h"
/*****************************************************************************/
/**
EtherCAT-Slave-Konstruktor.
*/
void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
ec_master_t *master /**< EtherCAT-Master */
)
{
slave->master = master;
slave->base_type = 0;
slave->base_revision = 0;
slave->base_build = 0;
slave->base_fmmu_count = 0;
slave->base_sync_count = 0;
slave->ring_position = 0;
slave->station_address = 0;
slave->sii_vendor_id = 0;
slave->sii_product_code = 0;
slave->sii_revision_number = 0;
slave->sii_serial_number = 0;
slave->type = NULL;
slave->registered = 0;
slave->fmmu_count = 0;
}
/*****************************************************************************/
/**
EtherCAT-Slave-Destruktor.
*/
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
{
// Nichts freizugeben
}
/*****************************************************************************/
/**
Liest alle benötigten Informationen aus einem Slave.
*/
int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_frame_t frame;
// Read base data
ec_frame_init_nprd(&frame, slave->master, slave->station_address,
0x0000, 6);
if (unlikely(ec_frame_send_receive(&frame))) return -1;
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Slave %i did not respond while reading base"
" data!\n", slave->ring_position);
return -1;
}
slave->base_type = frame.data[0];
slave->base_revision = frame.data[1];
slave->base_build = frame.data[2] | (frame.data[3] << 8);
slave->base_fmmu_count = frame.data[4];
slave->base_sync_count = frame.data[5];
if (slave->base_fmmu_count > EC_MAX_FMMUS)
slave->base_fmmu_count = EC_MAX_FMMUS;
// Read identification from "Slave Information Interface" (SII)
if (unlikely(ec_slave_sii_read(slave, 0x0008, &slave->sii_vendor_id))) {
printk(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
return -1;
}
if (unlikely(ec_slave_sii_read(slave, 0x000A, &slave->sii_product_code))) {
printk(KERN_ERR "EtherCAT: Could not read SII product code!\n");
return -1;
}
if (unlikely(ec_slave_sii_read(slave, 0x000C,
&slave->sii_revision_number))) {
printk(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
return -1;
}
if (unlikely(ec_slave_sii_read(slave, 0x000E,
&slave->sii_serial_number))) {
printk(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Liest Daten aus dem Slave-Information-Interface
eines EtherCAT-Slaves.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_sii_read(ec_slave_t *slave,
/**< EtherCAT-Slave */
unsigned short int offset,
/**< Adresse des zu lesenden SII-Registers */
unsigned int *target
/**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen
der Daten */
)
{
ec_frame_t frame;
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_frame_init_npwr(&frame, slave->master, slave->station_address, 0x502, 6,
data);
if (unlikely(ec_frame_send_receive(&frame))) return -1;
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: SII-read - Slave %i did not respond!\n",
slave->ring_position);
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_frame_init_nprd(&frame, slave->master, slave->station_address, 0x502,
10);
if (unlikely(ec_frame_send_receive(&frame))) return -1;
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: SII-read status -"
" Slave %i did not respond!\n", slave->ring_position);
return -1;
}
if (likely((frame.data[1] & 0x81) == 0)) {
memcpy(target, frame.data + 6, 4);
break;
}
tries_left--;
}
if (unlikely(!tries_left)) {
printk(KERN_WARNING "EtherCAT: SSI-read. Slave %i timed out!\n",
slave->ring_position);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Bestätigt einen Fehler beim Zustandswechsel.
FIXME Funktioniert noch nicht...
*/
void ec_slave_state_ack(ec_slave_t *slave,
/**< Slave, dessen Zustand geändert werden soll */
uint8_t state
/**< Alter Zustand */
)
{
ec_frame_t frame;
unsigned char data[2];
unsigned int tries_left;
data[0] = state | EC_ACK;
data[1] = 0x00;
ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,
2, data);
if (unlikely(ec_frame_send_receive(&frame) != 0)) {
printk(KERN_ERR "EtherCAT: Could no acknowledge state %02X - Unable to"
" send!\n", state);
return;
}
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not acknowledge state %02X - Slave"
" %i did not respond!\n", state, slave->ring_position);
return;
}
tries_left = 100;
while (likely(tries_left))
{
udelay(10);
ec_frame_init_nprd(&frame, slave->master, slave->station_address,
0x0130, 2);
if (unlikely(ec_frame_send_receive(&frame) != 0)) {
printk(KERN_ERR "EtherCAT: Could not check state acknowledgement"
" %02X - Unable to send!\n", state);
return;
}
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not check state acknowledgement"
" %02X - Slave %i did not respond!\n", state,
slave->ring_position);
return;
}
if (unlikely(frame.data[0] != state)) {
printk(KERN_ERR "EtherCAT: Could not acknowledge state %02X on"
" slave %i (code %02X)!\n", state, slave->ring_position,
frame.data[0]);
return;
}
if (likely(frame.data[0] == state)) {
printk(KERN_INFO "EtherCAT: Acknowleged state %02X on slave %i.\n",
state, slave->ring_position);
return;
}
tries_left--;
}
if (unlikely(!tries_left)) {
printk(KERN_ERR "EtherCAT: Could not check state acknowledgement %02X"
" of slave %i - Timeout while checking!\n", state,
slave->ring_position);
return;
}
}
/*****************************************************************************/
/**
Ändert den Zustand eines Slaves.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_state_change(ec_slave_t *slave,
/**< Slave, dessen Zustand geändert werden soll */
uint8_t state
/**< Neuer Zustand */
)
{
ec_frame_t frame;
unsigned char data[2];
unsigned int tries_left;
data[0] = state;
data[1] = 0x00;
ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,
2, data);
if (unlikely(ec_frame_send_receive(&frame) != 0)) {
printk(KERN_ERR "EtherCAT: Could not set state %02X - Unable to"
" send!\n", state);
return -1;
}
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i did not"
" respond!\n", state, slave->ring_position);
return -1;
}
tries_left = 100;
while (likely(tries_left))
{
udelay(10);
ec_frame_init_nprd(&frame, slave->master, slave->station_address,
0x0130, 2);
if (unlikely(ec_frame_send_receive(&frame) != 0)) {
printk(KERN_ERR "EtherCAT: Could not check state %02X - Unable to"
" send!\n", state);
return -1;
}
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not check state %02X - Slave %i"
" did not respond!\n", state, slave->ring_position);
return -1;
}
if (unlikely(frame.data[0] & 0x10)) { // State change error
printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i"
" refused state change (code %02X)!\n", state,
slave->ring_position, frame.data[0]);
ec_slave_state_ack(slave, frame.data[0] & 0x0F);
return -1;
}
if (likely(frame.data[0] == (state & 0x0F))) {
// State change successful
break;
}
tries_left--;
}
if (unlikely(!tries_left)) {
printk(KERN_ERR "EtherCAT: Could not check state %02X of slave %i -"
" Timeout while checking!\n", state,
slave->ring_position);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Merkt eine FMMU-Konfiguration vor.
Die FMMU wird so konfiguriert, dass sie den gesamten Datenbereich des
entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate
FMMUs konfiguriert.
Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als
Erfolg zurückgegeben.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_set_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
const ec_domain_t *domain, /**< Domäne */
const ec_sync_t *sync /**< Sync-Manager */
)
{
unsigned int i;
// FMMU schon vorgemerkt?
for (i = 0; i < slave->fmmu_count; i++)
if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
return 0;
if (slave->fmmu_count >= slave->base_fmmu_count) {
printk(KERN_ERR "EtherCAT: Slave %i supports only %i FMMUs.\n",
slave->ring_position, slave->base_fmmu_count);
return -1;
}
slave->fmmus[slave->fmmu_count].domain = domain;
slave->fmmus[slave->fmmu_count].sync = sync;
slave->fmmus[slave->fmmu_count].logical_start_address = 0;
slave->fmmu_count++;
slave->registered = 1;
return 0;
}
/*****************************************************************************/
/**
Gibt alle Informationen über einen EtherCAT-Slave aus.
*/
void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
{
printk(KERN_INFO "--- EtherCAT slave information ---\n");
if (slave->type) {
printk(KERN_INFO " Vendor \"%s\", Product \"%s\": %s\n",
slave->type->vendor_name, slave->type->product_name,
slave->type->description);
}
else {
printk(KERN_INFO " *** This slave has no type information! ***\n");
}
printk(KERN_INFO " Ring position: %i, Station address: 0x%04X\n",
slave->ring_position, slave->station_address);
printk(KERN_INFO " Base information:\n");
printk(KERN_INFO " Type %u, Revision %i, Build %i\n",
slave->base_type, slave->base_revision, slave->base_build);
printk(KERN_INFO " Supported FMMUs: %i, Sync managers: %i\n",
slave->base_fmmu_count, slave->base_sync_count);
printk(KERN_INFO " Slave information interface:\n");
printk(KERN_INFO " Vendor-ID: 0x%08X, Product code: 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
printk(KERN_INFO " Revision number: 0x%08X, Serial number: 0x%08X\n",
slave->sii_revision_number, slave->sii_serial_number);
}
/*****************************************************************************/
/**
Gibt die Zählerstände der CRC-Fault-Counter aus und setzt diese zurück.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_frame_t frame;
uint8_t data[4];
uint16_t crc[2];
ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x0300,
4);
if (unlikely(ec_frame_send_receive(&frame))) {
printk(KERN_WARNING "EtherCAT: Reading CRC fault counters failed"
" on slave %i - Could not send command!\n",
slave->ring_position);
return -1;
}
if (unlikely(frame.working_counter != 1)) {
printk(KERN_WARNING "EtherCAT: Reading CRC fault counters -"
" Slave %i did not respond!\n", slave->ring_position);
return -1;
}
crc[0] = frame.data[0] | (frame.data[1] << 8);
crc[1] = frame.data[2] | (frame.data[3] << 8);
// No CRC faults.
if (!crc[0] && !crc[1]) return 0;
printk(KERN_INFO "EtherCAT: CRC faults on slave %i. A: %i, B: %i\n",
slave->ring_position, crc[0], crc[1]);
// Reset CRC counters
memset(data, 0x00, 4);
ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0300,
4, data);
if (unlikely(ec_frame_send_receive(&frame))) return -1;
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Resetting CRC fault counters - Slave"
" %i did not respond!\n", slave->ring_position);
return -1;
}
return 0;
}
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/