/******************************************************************************
*
* 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 "command.h"
#include "master.h"
/*****************************************************************************/
int ec_slave_fetch_categories(ec_slave_t *);
int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
/*****************************************************************************/
const ec_code_msg_t al_status_messages[];
/*****************************************************************************/
/**
EtherCAT-Slave-Konstruktor.
*/
void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
ec_master_t *master /**< EtherCAT-Master */
)
{
unsigned int i;
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_alias = 0;
slave->sii_vendor_id = 0;
slave->sii_product_code = 0;
slave->sii_revision_number = 0;
slave->sii_serial_number = 0;
slave->sii_rx_mailbox_offset = 0;
slave->sii_rx_mailbox_size = 0;
slave->sii_tx_mailbox_offset = 0;
slave->sii_tx_mailbox_size = 0;
slave->sii_mailbox_protocols = 0;
slave->type = NULL;
slave->registered = 0;
slave->fmmu_count = 0;
slave->eeprom_name = NULL;
slave->eeprom_group = NULL;
slave->eeprom_desc = NULL;
ec_command_init(&slave->mbox_command);
INIT_LIST_HEAD(&slave->eeprom_strings);
INIT_LIST_HEAD(&slave->eeprom_syncs);
INIT_LIST_HEAD(&slave->eeprom_pdos);
INIT_LIST_HEAD(&slave->sdo_dictionary);
for (i = 0; i < 2; i++) {
slave->dl_status_link[i] = 0;
slave->dl_status_loop[i] = 0;
slave->dl_status_comm[i] = 0;
}
}
/*****************************************************************************/
/**
EtherCAT-Slave-Destruktor.
*/
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_eeprom_string_t *string, *next_str;
ec_eeprom_sync_t *sync, *next_sync;
ec_eeprom_pdo_t *pdo, *next_pdo;
ec_eeprom_pdo_entry_t *entry, *next_ent;
ec_sdo_t *sdo, *next_sdo;
ec_sdo_entry_t *en, *next_en;
// Alle Strings freigeben
list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
list_del(&string->list);
kfree(string);
}
// Alle Sync-Manager freigeben
list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {
list_del(&sync->list);
kfree(sync);
}
// Alle PDOs freigeben
list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {
list_del(&pdo->list);
if (pdo->name) kfree(pdo->name);
// Alle Entries innerhalb eines PDOs freigeben
list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
list_del(&entry->list);
if (entry->name) kfree(entry->name);
kfree(entry);
}
kfree(pdo);
}
if (slave->eeprom_name) kfree(slave->eeprom_name);
if (slave->eeprom_group) kfree(slave->eeprom_group);
if (slave->eeprom_desc) kfree(slave->eeprom_desc);
// Alle SDOs freigeben
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
if (sdo->name) kfree(sdo->name);
// Alle Entries freigeben
list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
list_del(&en->list);
kfree(en);
}
kfree(sdo);
}
ec_command_clear(&slave->mbox_command);
}
/*****************************************************************************/
/**
Liest alle benötigten Informationen aus einem Slave.
\return 0 wenn alles ok, < 0 bei Fehler.
*/
int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_command_t *command;
unsigned int i;
uint16_t dl_status;
command = &slave->master->simple_command;
// Read base data
if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Reading base data from slave %i failed!\n",
slave->ring_position);
return -1;
}
slave->base_type = EC_READ_U8 (command->data);
slave->base_revision = EC_READ_U8 (command->data + 1);
slave->base_build = EC_READ_U16(command->data + 2);
slave->base_fmmu_count = EC_READ_U8 (command->data + 4);
slave->base_sync_count = EC_READ_U8 (command->data + 5);
if (slave->base_fmmu_count > EC_MAX_FMMUS)
slave->base_fmmu_count = EC_MAX_FMMUS;
// Read DL status
if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Reading DL status from slave %i failed!\n",
slave->ring_position);
return -1;
}
dl_status = EC_READ_U16(command->data);
for (i = 0; i < 2; i++) {
slave->dl_status_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
slave->dl_status_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
slave->dl_status_comm[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
}
// Read EEPROM data
if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))
return -1;
if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))
return -1;
if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))
return -1;
if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))
return -1;
if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))
return -1;
if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))
return -1;
if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))
return -1;
if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))
return -1;
if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))
return -1;
if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))
return -1;
if (unlikely(ec_slave_fetch_categories(slave))) {
EC_ERR("Failed to fetch category data!\n");
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Liest 16 Bit aus dem Slave-Information-Interface
eines EtherCAT-Slaves.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_sii_read16(ec_slave_t *slave,
/**< EtherCAT-Slave */
uint16_t offset,
/**< Adresse des zu lesenden SII-Registers */
uint16_t *target
/**< Speicher für Wert (16-Bit) */
)
{
ec_command_t *command;
cycles_t start, end, timeout;
command = &slave->master->simple_command;
// Initiate read operation
if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;
EC_WRITE_U8 (command->data, 0x00); // read-only access
EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
EC_WRITE_U32(command->data + 2, offset);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-read failed on slave %i!\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.
start = get_cycles();
timeout = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
udelay(10);
if (ec_command_nprd(command, slave->station_address, 0x502, 10))
return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-read status failed on slave %i!\n",
slave->ring_position);
return -1;
}
end = get_cycles();
if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
*target = EC_READ_U16(command->data + 6);
return 0;
}
if (unlikely((end - start) >= timeout)) {
EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
return -1;
}
}
}
/*****************************************************************************/
/**
Liest 32 Bit aus dem Slave-Information-Interface
eines EtherCAT-Slaves.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_sii_read32(ec_slave_t *slave,
/**< EtherCAT-Slave */
uint16_t offset,
/**< Adresse des zu lesenden SII-Registers */
uint32_t *target
/**< Speicher für Wert (32-Bit) */
)
{
ec_command_t *command;
cycles_t start, end, timeout;
command = &slave->master->simple_command;
// Initiate read operation
if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;
EC_WRITE_U8 (command->data, 0x00); // read-only access
EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
EC_WRITE_U32(command->data + 2, offset);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-read failed on slave %i!\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.
start = get_cycles();
timeout = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
udelay(10);
if (ec_command_nprd(command, slave->station_address, 0x502, 10))
return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-read status failed on slave %i!\n",
slave->ring_position);
return -1;
}
end = get_cycles();
if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {
*target = EC_READ_U32(command->data + 6);
return 0;
}
if (unlikely((end - start) >= timeout)) {
EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
return -1;
}
}
}
/*****************************************************************************/
/**
Schreibt 16 Bit Daten in das Slave-Information-Interface
eines EtherCAT-Slaves.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_sii_write16(ec_slave_t *slave,
/**< EtherCAT-Slave */
uint16_t offset,
/**< Adresse des zu lesenden SII-Registers */
uint16_t value
/**< Zu schreibender Wert */
)
{
ec_command_t *command;
cycles_t start, end, timeout;
command = &slave->master->simple_command;
EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",
slave->ring_position, offset, value);
// Initiate write operation
if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;
EC_WRITE_U8 (command->data, 0x01); // enable write access
EC_WRITE_U8 (command->data + 1, 0x02); // request write operation
EC_WRITE_U32(command->data + 2, offset);
EC_WRITE_U16(command->data + 6, value);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-write failed on slave %i!\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.
start = get_cycles();
timeout = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
udelay(10);
if (ec_command_nprd(command, slave->station_address, 0x502, 2))
return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-write status failed on slave %i!\n",
slave->ring_position);
return -1;
}
end = get_cycles();
if (likely((EC_READ_U8(command->data + 1) & 0x82) == 0)) {
if (EC_READ_U8(command->data + 1) & 0x40) {
EC_ERR("SII-write failed!\n");
return -1;
}
else {
EC_INFO("SII-write succeeded!\n");
return 0;
}
}
if (unlikely((end - start) >= timeout)) {
EC_ERR("SII-write: Slave %i timed out!\n", slave->ring_position);
return -1;
}
}
}
/*****************************************************************************/
/**
Holt Daten aus dem EEPROM.
\return 0, wenn alles ok, sonst < 0
*/
int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT-Slave */)
{
uint16_t word_offset, cat_type, word_count;
uint32_t value;
uint8_t *cat_data;
unsigned int i;
word_offset = 0x0040;
if (!(cat_data = (uint8_t *) kmalloc(0x10000, GFP_KERNEL))) {
EC_ERR("Failed to allocate 64k bytes for category data.\n");
return -1;
}
while (1) {
// read category type
if (ec_slave_sii_read32(slave, word_offset, &value)) {
EC_ERR("Unable to read category header.\n");
goto out_free;
}
// Last category?
if ((value & 0xFFFF) == 0xFFFF) break;
cat_type = value & 0x7FFF;
word_count = (value >> 16) & 0xFFFF;
// Fetch category data
for (i = 0; i < word_count; i++) {
if (ec_slave_sii_read32(slave, word_offset + 2 + i, &value)) {
EC_ERR("Unable to read category data word %i.\n", i);
goto out_free;
}
cat_data[i * 2] = (value >> 0) & 0xFF;
cat_data[i * 2 + 1] = (value >> 8) & 0xFF;
// read second word "on the fly"
if (i + 1 < word_count) {
i++;
cat_data[i * 2] = (value >> 16) & 0xFF;
cat_data[i * 2 + 1] = (value >> 24) & 0xFF;
}
}
switch (cat_type)
{
case 0x000A:
if (ec_slave_fetch_strings(slave, cat_data))
goto out_free;
break;
case 0x001E:
if (ec_slave_fetch_general(slave, cat_data))
goto out_free;
break;
case 0x0028:
break;
case 0x0029:
if (ec_slave_fetch_sync(slave, cat_data, word_count))
goto out_free;
break;
case 0x0032:
if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_TX_PDO))
goto out_free;
break;
case 0x0033:
if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_RX_PDO))
goto out_free;
break;
default:
EC_WARN("Unknown category type 0x%04X in slave %i.\n",
cat_type, slave->ring_position);
}
word_offset += 2 + word_count;
}
kfree(cat_data);
return 0;
out_free:
kfree(cat_data);
return -1;
}
/*****************************************************************************/
/**
Holt die Daten einer String-Kategorie.
\return 0 wenn alles ok, sonst < 0
*/
int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategoriedaten */
)
{
unsigned int string_count, i;
size_t size;
off_t offset;
ec_eeprom_string_t *string;
string_count = data[0];
offset = 1;
for (i = 0; i < string_count; i++) {
size = data[offset];
// Speicher für String-Objekt und Daten in einem Rutsch allozieren
if (!(string = (ec_eeprom_string_t *)
kmalloc(sizeof(ec_eeprom_string_t) + size + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate string memory.\n");
return -1;
}
string->size = size;
// string memory appended to string structure
string->data = (char *) string + sizeof(ec_eeprom_string_t);
memcpy(string->data, data + offset + 1, size);
string->data[size] = 0x00;
list_add_tail(&string->list, &slave->eeprom_strings);
offset += 1 + size;
}
return 0;
}
/*****************************************************************************/
/**
Holt die Daten einer General-Kategorie.
*/
int ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategorie-Daten */
)
{
if (ec_slave_locate_string(slave, data[0], &slave->eeprom_group))
return -1;
if (ec_slave_locate_string(slave, data[1], &slave->eeprom_name))
return -1;
if (ec_slave_locate_string(slave, data[3], &slave->eeprom_desc))
return -1;
return 0;
}
/*****************************************************************************/
/**
Holt die Daten einer Sync-Manager-Kategorie.
*/
int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data, /**< Kategorie-Daten */
size_t word_count /**< Anzahl Words */
)
{
unsigned int sync_count, i;
ec_eeprom_sync_t *sync;
sync_count = word_count / 4; // Sync-Manager-Strunktur ist 4 Worte lang
for (i = 0; i < sync_count; i++, data += 8) {
if (!(sync = (ec_eeprom_sync_t *)
kmalloc(sizeof(ec_eeprom_sync_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Sync-Manager memory.\n");
return -1;
}
sync->index = i;
sync->physical_start_address = *((uint16_t *) (data + 0));
sync->length = *((uint16_t *) (data + 2));
sync->control_register = data[4];
sync->enable = data[6];
list_add_tail(&sync->list, &slave->eeprom_syncs);
}
return 0;
}
/*****************************************************************************/
/**
Holt die Daten einer TXPDO-Kategorie.
*/
int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data, /**< Kategorie-Daten */
size_t word_count, /**< Anzahl Worte */
ec_pdo_type_t pdo_type /**< PDO-Typ */
)
{
ec_eeprom_pdo_t *pdo;
ec_eeprom_pdo_entry_t *entry;
unsigned int entry_count, i;
while (word_count >= 4) {
if (!(pdo = (ec_eeprom_pdo_t *)
kmalloc(sizeof(ec_eeprom_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate PDO memory.\n");
return -1;
}
INIT_LIST_HEAD(&pdo->entries);
pdo->type = pdo_type;
pdo->index = *((uint16_t *) data);
entry_count = data[2];
pdo->sync_manager = data[3];
pdo->name = NULL;
ec_slave_locate_string(slave, data[5], &pdo->name);
list_add_tail(&pdo->list, &slave->eeprom_pdos);
word_count -= 4;
data += 8;
for (i = 0; i < entry_count; i++) {
if (!(entry = (ec_eeprom_pdo_entry_t *)
kmalloc(sizeof(ec_eeprom_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate PDO entry memory.\n");
return -1;
}
entry->index = *((uint16_t *) data);
entry->subindex = data[2];
entry->name = NULL;
ec_slave_locate_string(slave, data[3], &entry->name);
entry->bit_length = data[5];
list_add_tail(&entry->list, &pdo->entries);
word_count -= 4;
data += 8;
}
}
return 0;
}
/*****************************************************************************/
/**
Durchsucht die temporären Strings und dupliziert den gefundenen String.
*/
int ec_slave_locate_string(ec_slave_t *slave, unsigned int index, char **ptr)
{
ec_eeprom_string_t *string;
char *err_string;
// Erst alten Speicher freigeben
if (*ptr) {
kfree(*ptr);
*ptr = NULL;
}
// Index 0 bedeutet "nicht belegt"
if (!index) return 0;
// EEPROM-String mit Index finden und kopieren
list_for_each_entry(string, &slave->eeprom_strings, list) {
if (--index) continue;
if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_KERNEL))) {
EC_ERR("Unable to allocate string memory.\n");
return -1;
}
memcpy(*ptr, string->data, string->size + 1);
return 0;
}
EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);
err_string = "(string not found)";
if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_KERNEL))) {
EC_ERR("Unable to allocate string memory.\n");
return -1;
}
memcpy(*ptr, err_string, strlen(err_string) + 1);
return 0;
}
/*****************************************************************************/
/**
Bestätigt einen Fehler beim Zustandswechsel.
*/
void ec_slave_state_ack(ec_slave_t *slave,
/**< Slave, dessen Zustand geändert werden soll */
uint8_t state
/**< Alter Zustand */
)
{
ec_command_t *command;
cycles_t start, end, timeout;
command = &slave->master->simple_command;
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return;
EC_WRITE_U16(command->data, state | EC_ACK);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Acknowledge sending failed on slave %i!\n",
slave->ring_position);
return;
}
start = get_cycles();
timeout = (cycles_t) 10 * cpu_khz; // 10ms
while (1)
{
udelay(100); // Dem Slave etwas Zeit lassen...
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Acknowledge checking failed on slave %i!\n",
slave->ring_position);
return;
}
end = get_cycles();
if (likely(EC_READ_U8(command->data) == state)) {
EC_INFO("Acknowleged state 0x%02X on slave %i.\n", state,
slave->ring_position);
return;
}
if (unlikely((end - start) >= timeout)) {
EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
" - Timeout!\n", state, slave->ring_position);
return;
}
}
}
/*****************************************************************************/
/**
Reads the AL status code of a slave and displays it.
If the AL status code is not supported, or if no error occurred (both
resulting in code=0), nothing is displayed.
*/
void ec_slave_read_al_status_code(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_command_t *command;
uint16_t code;
const ec_code_msg_t *al_msg;
command = &slave->master->simple_command;
if (ec_command_nprd(command, slave->station_address, 0x0134, 2)) return;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Failed to read AL status code on slave %i!\n",
slave->ring_position);
return;
}
if (!(code = EC_READ_U16(command->data))) return;
for (al_msg = al_status_messages; al_msg->code; al_msg++) {
if (al_msg->code == code) {
EC_ERR("AL status message 0x%04X: \"%s\".\n",
al_msg->code, al_msg->message);
return;
}
}
EC_ERR("Unknown AL status code 0x%04X.\n", code);
}
/*****************************************************************************/
/**
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_command_t *command;
cycles_t start, end, timeout;
command = &slave->master->simple_command;
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return -1;
EC_WRITE_U16(command->data, state);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Failed to set state 0x%02X on slave %i!\n",
state, slave->ring_position);
return -1;
}
start = get_cycles();
timeout = (cycles_t) 10 * cpu_khz; // 10ms
while (1)
{
udelay(100); // Dem Slave etwas Zeit lassen...
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Failed to check state 0x%02X on slave %i!\n",
state, slave->ring_position);
return -1;
}
end = get_cycles();
if (unlikely(EC_READ_U8(command->data) & 0x10)) { // State change error
EC_ERR("Failed to set state 0x%02X - Slave %i refused state change"
" (code 0x%02X)!\n", state, slave->ring_position,
EC_READ_U8(command->data));
state = EC_READ_U8(command->data) & 0x0F;
ec_slave_read_al_status_code(slave);
ec_slave_state_ack(slave, state);
return -1;
}
if (likely(EC_READ_U8(command->data) == (state & 0x0F))) {
// State change successful
return 0;
}
if (unlikely((end - start) >= timeout)) {
EC_ERR("Failed to check state 0x%02X of slave %i - Timeout!\n",
state, slave->ring_position);
return -1;
}
}
}
/*****************************************************************************/
/**
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_prepare_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;
// Neue FMMU reservieren...
if (slave->fmmu_count >= slave->base_fmmu_count) {
EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
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.
Verbosity:
0 - Nur Slavetypen und Adressen
1 - mit EEPROM-Informationen
>1 - mit SDO-Dictionaries
*/
void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT-Slave */
unsigned int verbosity /**< Geschwätzigkeit */
)
{
ec_eeprom_sync_t *sync;
ec_eeprom_pdo_t *pdo;
ec_eeprom_pdo_entry_t *pdo_entry;
ec_sdo_t *sdo;
ec_sdo_entry_t *sdo_entry;
int first, i;
if (slave->type) {
EC_INFO("%i) %s %s: %s\n", slave->ring_position,
slave->type->vendor_name, slave->type->product_name,
slave->type->description);
}
else {
EC_INFO("%i) UNKNOWN SLAVE: vendor 0x%08X, product 0x%08X\n",
slave->ring_position, slave->sii_vendor_id,
slave->sii_product_code);
}
if (!verbosity) return;
EC_INFO(" Station address: 0x%04X\n", slave->station_address);
EC_INFO(" Data link status:\n");
for (i = 0; i < 2; i++) {
EC_INFO(" Port %i: link %s, loop %s, comm %s\n", i,
slave->dl_status_link[i] ? "up" : "down",
slave->dl_status_loop[i] ? "closed" : "open",
slave->dl_status_comm[i] ? "up" : "down");
}
EC_INFO(" Base information:\n");
EC_INFO(" Type %u, revision %i, build %i\n",
slave->base_type, slave->base_revision, slave->base_build);
EC_INFO(" Supported FMMUs: %i, sync managers: %i\n",
slave->base_fmmu_count, slave->base_sync_count);
if (slave->sii_mailbox_protocols) {
EC_INFO(" Mailbox communication:\n");
EC_INFO(" RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
EC_INFO(" Supported protocols: ");
first = 1;
if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
printk("AoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
if (!first) printk(", ");
printk("EoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
if (!first) printk(", ");
printk("CoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
if (!first) printk(", ");
printk("FoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
if (!first) printk(", ");
printk("SoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
if (!first) printk(", ");
printk("VoE");
}
printk("\n");
}
EC_INFO(" EEPROM data:\n");
if (slave->sii_alias)
EC_INFO(" Configured station alias: 0x%04X (%i)\n",
slave->sii_alias, slave->sii_alias);
EC_INFO(" Vendor-ID: 0x%08X, Product code: 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
EC_INFO(" Revision number: 0x%08X, Serial number: 0x%08X\n",
slave->sii_revision_number, slave->sii_serial_number);
if (slave->eeprom_name)
EC_INFO(" Name: %s\n", slave->eeprom_name);
if (slave->eeprom_group)
EC_INFO(" Group: %s\n", slave->eeprom_group);
if (slave->eeprom_desc)
EC_INFO(" Description: %s\n", slave->eeprom_desc);
if (!list_empty(&slave->eeprom_syncs)) {
EC_INFO(" Sync-Managers:\n");
list_for_each_entry(sync, &slave->eeprom_syncs, list) {
EC_INFO(" %i: 0x%04X, length %i, control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
sync->length, sync->control_register,
sync->enable ? "enable" : "disable");
}
}
list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
EC_INFO(" %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
pdo->name ? pdo->name : "???",
pdo->index, pdo->sync_manager);
list_for_each_entry(pdo_entry, &pdo->entries, list) {
EC_INFO(" \"%s\" 0x%04X:%X, %i Bit\n",
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->bit_length);
}
}
if (verbosity < 2) return;
if (!list_empty(&slave->sdo_dictionary)) {
EC_INFO(" SDO-Dictionary:\n");
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
EC_INFO(" 0x%04X \"%s\"\n", sdo->index,
sdo->name ? sdo->name : "");
EC_INFO(" Object code: 0x%02X\n", sdo->object_code);
list_for_each_entry(sdo_entry, &sdo->entries, list) {
EC_INFO(" 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
sdo->index, sdo_entry->subindex,
sdo_entry->name ? sdo_entry->name : "",
sdo_entry->data_type, sdo_entry->bit_length);
}
}
}
}
/*****************************************************************************/
/**
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_command_t *command;
command = &slave->master->simple_command;
if (ec_command_nprd(command, slave->station_address, 0x0300, 4)) return -1;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Reading CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
}
// No CRC faults.
if (!EC_READ_U32(command->data)) return 0;
if (EC_READ_U8(command->data))
EC_WARN("%3i RX-error%s on slave %i, channel A.\n",
EC_READ_U8(command->data),
EC_READ_U8(command->data) == 1 ? "" : "s",
slave->ring_position);
if (EC_READ_U8(command->data + 1))
EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",
EC_READ_U8(command->data + 1),
EC_READ_U8(command->data + 1) == 1 ? "" : "s",
slave->ring_position);
if (EC_READ_U8(command->data + 2))
EC_WARN("%3i RX-error%s on slave %i, channel B.\n",
EC_READ_U8(command->data + 2),
EC_READ_U8(command->data + 2) == 1 ? "" : "s",
slave->ring_position);
if (EC_READ_U8(command->data + 3))
EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",
EC_READ_U8(command->data + 3),
EC_READ_U8(command->data + 3) == 1 ? "" : "s",
slave->ring_position);
// Reset CRC counters
if (ec_command_npwr(command, slave->station_address, 0x0300, 4)) return -1;
EC_WRITE_U32(command->data, 0x00000000);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Schreibt den "Configured station alias".
\return 0, wenn alles ok, sonst < 0
*/
int ecrt_slave_write_alias(ec_slave_t *slave, /** EtherCAT-Slave */
uint16_t alias /** Neuer Alias */
)
{
return ec_slave_sii_write16(slave, 0x0004, alias);
}
/*****************************************************************************/
const ec_code_msg_t al_status_messages[] = {
{0x0001, "Unspecified error"},
{0x0011, "Invalud requested state change"},
{0x0012, "Unknown requested state"},
{0x0013, "Bootstrap not supported"},
{0x0014, "No valid firmware"},
{0x0015, "Invalid mailbox configuration"},
{0x0016, "Invalid mailbox configuration"},
{0x0017, "Invalid sync manager configuration"},
{0x0018, "No valid inputs available"},
{0x0019, "No valid outputs"},
{0x001A, "Synchronisation error"},
{0x001B, "Sync manager watchdog"},
{0x0020, "Slave needs cold start"},
{0x0021, "Slave needs INIT"},
{0x0022, "Slave needs PREOP"},
{0x0023, "Slave needs SAVEOP"},
{}
};
/*****************************************************************************/
EXPORT_SYMBOL(ecrt_slave_write_alias);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/