fp@39: /******************************************************************************
fp@0:  *
fp@54:  *  s l a v e . c
fp@0:  *
fp@121:  *  Methoden fˇür einen EtherCAT-Slave.
fp@0:  *
fp@39:  *  $Id$
fp@0:  *
fp@39:  *****************************************************************************/
fp@0: 
fp@24: #include <linux/module.h>
fp@73: #include <linux/delay.h>
fp@0: 
fp@54: #include "globals.h"
fp@54: #include "slave.h"
fp@98: #include "command.h"
fp@98: #include "master.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@118: int ec_slave_fetch_categories(ec_slave_t *);
fp@118: int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
fp@118: void ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
fp@118: void ec_slave_fetch_fmmu(ec_slave_t *, const uint8_t *);
fp@118: void ec_slave_fetch_sync(ec_slave_t *, const uint8_t *);
fp@118: void ec_slave_fetch_txpdo(ec_slave_t *, const uint8_t *);
fp@118: void ec_slave_fetch_rxpdo(ec_slave_t *, const uint8_t *);
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@0: /**
fp@0:    EtherCAT-Slave-Konstruktor.
fp@73: */
fp@73: 
fp@73: void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@73:                    ec_master_t *master /**< EtherCAT-Master */
fp@73:                    )
fp@73: {
fp@73:     slave->master = master;
fp@73:     slave->base_type = 0;
fp@73:     slave->base_revision = 0;
fp@73:     slave->base_build = 0;
fp@73:     slave->base_fmmu_count = 0;
fp@73:     slave->base_sync_count = 0;
fp@73:     slave->ring_position = 0;
fp@73:     slave->station_address = 0;
fp@114:     slave->sii_alias = 0;
fp@73:     slave->sii_vendor_id = 0;
fp@73:     slave->sii_product_code = 0;
fp@73:     slave->sii_revision_number = 0;
fp@73:     slave->sii_serial_number = 0;
fp@73:     slave->type = NULL;
fp@73:     slave->registered = 0;
fp@73:     slave->fmmu_count = 0;
fp@118: 
fp@121:     INIT_LIST_HEAD(&slave->eeprom_strings);
fp@121:     slave->eeprom_name = NULL;
fp@121:     slave->eeprom_group = NULL;
fp@121:     slave->eeprom_desc = NULL;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    EtherCAT-Slave-Destruktor.
fp@73: */
fp@73: 
fp@73: void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
fp@73: {
fp@118:     ec_slave_string_t *string, *next;
fp@118: 
fp@118:     // Alle Strings freigeben
fp@121:     list_for_each_entry_safe(string, next, &slave->eeprom_strings, list) {
fp@118:         list_del(&string->list);
fp@118:         kfree(string);
fp@118:     }
fp@121: 
fp@121:     if (slave->eeprom_name) kfree(slave->eeprom_name);
fp@121:     if (slave->eeprom_group) kfree(slave->eeprom_group);
fp@121:     if (slave->eeprom_desc) kfree(slave->eeprom_desc);
fp@121: }
fp@121: 
fp@121: /*****************************************************************************/
fp@121: 
fp@121: /**
fp@121:    Liest alle benˇötigten Informationen aus einem Slave.
fp@91: 
fp@91:    \return 0 wenn alles ok, < 0 bei Fehler.
fp@73: */
fp@73: 
fp@73: int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
fp@73: {
fp@98:     ec_command_t command;
fp@73: 
fp@73:     // Read base data
fp@98:     ec_command_init_nprd(&command, slave->station_address, 0x0000, 6);
fp@98:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:         EC_ERR("Reading base datafrom slave %i failed!\n",
fp@84:                slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@98:     slave->base_type =       EC_READ_U8 (command.data);
fp@98:     slave->base_revision =   EC_READ_U8 (command.data + 1);
fp@98:     slave->base_build =      EC_READ_U16(command.data + 2);
fp@98:     slave->base_fmmu_count = EC_READ_U8 (command.data + 4);
fp@98:     slave->base_sync_count = EC_READ_U8 (command.data + 5);
fp@73: 
fp@73:     if (slave->base_fmmu_count > EC_MAX_FMMUS)
fp@73:         slave->base_fmmu_count = EC_MAX_FMMUS;
fp@73: 
fp@73:     // Read identification from "Slave Information Interface" (SII)
fp@73: 
fp@114:     if (unlikely(ec_slave_sii_read(slave, 0x0004,
fp@114:                                    (uint32_t *) &slave->sii_alias))) {
fp@114:         EC_ERR("Could not read SII alias!\n");
fp@114:         return -1;
fp@114:     }
fp@114: 
fp@73:     if (unlikely(ec_slave_sii_read(slave, 0x0008, &slave->sii_vendor_id))) {
fp@84:         EC_ERR("Could not read SII vendor id!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(ec_slave_sii_read(slave, 0x000A, &slave->sii_product_code))) {
fp@84:         EC_ERR("Could not read SII product code!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(ec_slave_sii_read(slave, 0x000C,
fp@73:                                    &slave->sii_revision_number))) {
fp@84:         EC_ERR("Could not read SII revision number!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(ec_slave_sii_read(slave, 0x000E,
fp@73:                                    &slave->sii_serial_number))) {
fp@84:         EC_ERR("Could not read SII serial number!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@118:     if (unlikely(ec_slave_fetch_categories(slave))) {
fp@118:         EC_ERR("Could not fetch category data!\n");
fp@118:         return -1;
fp@118:     }
fp@118: 
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Liest Daten aus dem Slave-Information-Interface
fp@73:    eines EtherCAT-Slaves.
fp@73: 
fp@73:    \return 0 bei Erfolg, sonst < 0
fp@73: */
fp@73: 
fp@73: int ec_slave_sii_read(ec_slave_t *slave,
fp@73:                       /**< EtherCAT-Slave */
fp@101:                       uint16_t offset,
fp@73:                       /**< Adresse des zu lesenden SII-Registers */
fp@101:                       uint32_t *target
fp@121:                       /**< Zeiger auf einen 4 Byte groˇßen Speicher zum Ablegen
fp@73:                          der Daten */
fp@73:                       )
fp@73: {
fp@98:     ec_command_t command;
fp@101:     uint8_t data[10];
fp@98:     cycles_t start, end, timeout;
fp@73: 
fp@73:     // Initiate read operation
fp@73: 
fp@114:     EC_WRITE_U8 (data,     0x00); // read-only access
fp@114:     EC_WRITE_U8 (data + 1, 0x01); // request read operation
fp@114:     EC_WRITE_U32(data + 2, offset);
fp@73: 
fp@98:     ec_command_init_npwr(&command, slave->station_address, 0x502, 6, data);
fp@98:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:         EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     // Der Slave legt die Informationen des Slave-Information-Interface
fp@121:     // in das Datenregister und lˇöscht daraufhin ein Busy-Bit. Solange
fp@73:     // den Status auslesen, bis das Bit weg ist.
fp@73: 
fp@98:     start = get_cycles();
fp@119:     timeout = (cycles_t) 100 * cpu_khz; // 100ms
fp@98: 
fp@113:     while (1)
fp@73:     {
fp@113:         udelay(10);
fp@113: 
fp@98:         ec_command_init_nprd(&command, slave->station_address, 0x502, 10);
fp@98:         if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:             EC_ERR("Getting SII-read status failed on slave %i!\n",
fp@84:                    slave->ring_position);
fp@73:             return -1;
fp@73:         }
fp@73: 
fp@98:         end = get_cycles();
fp@98: 
fp@98:         if (likely((EC_READ_U8(command.data + 1) & 0x81) == 0)) {
fp@114:             *target = EC_READ_U32(command.data + 6);
fp@113:             return 0;
fp@113:         }
fp@113: 
fp@113:         if (unlikely((end - start) >= timeout)) {
fp@118:             EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
fp@113:             return -1;
fp@113:         }
fp@113:     }
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@114:    Schreibt Daten in das Slave-Information-Interface
fp@114:    eines EtherCAT-Slaves.
fp@114: 
fp@114:    \return 0 bei Erfolg, sonst < 0
fp@114: */
fp@114: 
fp@114: int ec_slave_sii_write(ec_slave_t *slave,
fp@114:                        /**< EtherCAT-Slave */
fp@114:                        uint16_t offset,
fp@114:                        /**< Adresse des zu lesenden SII-Registers */
fp@114:                        uint16_t value
fp@114:                        /**< Zu schreibender Wert */
fp@114:                        )
fp@114: {
fp@114:     ec_command_t command;
fp@114:     uint8_t data[8];
fp@114:     cycles_t start, end, timeout;
fp@114: 
fp@114:     EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",
fp@114:             slave->ring_position, offset, value);
fp@114: 
fp@114:     // Initiate write operation
fp@114: 
fp@114:     EC_WRITE_U8 (data,     0x01); // enable write access
fp@114:     EC_WRITE_U8 (data + 1, 0x02); // request write operation
fp@114:     EC_WRITE_U32(data + 2, offset);
fp@114:     EC_WRITE_U16(data + 6, value);
fp@114: 
fp@114:     ec_command_init_npwr(&command, slave->station_address, 0x502, 8, data);
fp@114:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@114:         EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);
fp@114:         return -1;
fp@114:     }
fp@114: 
fp@114:     // Der Slave legt die Informationen des Slave-Information-Interface
fp@121:     // in das Datenregister und lˇöscht daraufhin ein Busy-Bit. Solange
fp@114:     // den Status auslesen, bis das Bit weg ist.
fp@114: 
fp@114:     start = get_cycles();
fp@119:     timeout = (cycles_t) 100 * cpu_khz; // 100ms
fp@114: 
fp@114:     while (1)
fp@114:     {
fp@114:         udelay(10);
fp@114: 
fp@114:         ec_command_init_nprd(&command, slave->station_address, 0x502, 2);
fp@114:         if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@114:             EC_ERR("Getting SII-write status failed on slave %i!\n",
fp@114:                    slave->ring_position);
fp@114:             return -1;
fp@114:         }
fp@114: 
fp@114:         end = get_cycles();
fp@114: 
fp@114:         if (likely((EC_READ_U8(command.data + 1) & 0x82) == 0)) {
fp@114:             if (EC_READ_U8(command.data + 1) & 0x40) {
fp@114:                 EC_ERR("SII-write failed!\n");
fp@114:                 return -1;
fp@114:             }
fp@114:             else {
fp@114:                 EC_INFO("SII-write succeeded!\n");
fp@114:                 return 0;
fp@114:             }
fp@114:         }
fp@114: 
fp@114:         if (unlikely((end - start) >= timeout)) {
fp@118:             EC_ERR("SII-write: Slave %i timed out!\n", slave->ring_position);
fp@118:             return -1;
fp@118:         }
fp@118:     }
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@118:    Holt Daten aus dem EEPROM.
fp@118: 
fp@118:    \return 0, wenn alles ok, sonst < 0
fp@118: */
fp@118: 
fp@118: int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT-Slave */)
fp@118: {
fp@118:     uint16_t word_offset, header, word_count;
fp@118:     uint32_t value;
fp@118:     uint8_t *cat_data;
fp@118:     unsigned int i;
fp@118: 
fp@118:     word_offset = 0x0040;
fp@118: 
fp@118:     //EC_DBG("Slave %i...\n", slave->ring_position);
fp@118: 
fp@118:     if (!(cat_data = (uint8_t *) kmalloc(0x10000, GFP_KERNEL))) {
fp@118:         EC_ERR("Failed to allocate 64k bytes for category data.\n");
fp@118:         return -1;
fp@118:     }
fp@118: 
fp@118:     while (1) {
fp@118:         // read category header
fp@118:         if (ec_slave_sii_read(slave, word_offset, &value)) {
fp@118:             EC_ERR("Unable to read category header and size.\n");
fp@118:             kfree(cat_data);
fp@118:             return -1;
fp@118:         }
fp@118: 
fp@118:         // Last category?
fp@118:         if ((value & 0xFFFF) == 0xFFFF) break;
fp@118: 
fp@118:         header = value & 0x7FFF;
fp@118:         word_count = (value >> 16) & 0xFFFF;
fp@118: 
fp@118:         // Fetch category data
fp@118:         for (i = 0; i < word_count; i++) {
fp@118:             if (ec_slave_sii_read(slave, word_offset + 2 + i, &value)) {
fp@118:                 EC_ERR("Unable to read category data word %i.\n", i);
fp@118:                 kfree(cat_data);
fp@118:                 return -1;
fp@118:             }
fp@118: 
fp@118:             cat_data[i * 2]     = (value >> 0) & 0xFF;
fp@118:             cat_data[i * 2 + 1] = (value >> 8) & 0xFF;
fp@118: 
fp@118:             // read second word "on the fly"
fp@118:             if (i + 1 < word_count) {
fp@118:                 i++;
fp@118:                 cat_data[i * 2]     = (value >> 16) & 0xFF;
fp@118:                 cat_data[i * 2 + 1] = (value >> 24) & 0xFF;
fp@118:             }
fp@118:         }
fp@118: 
fp@118:         switch (header)
fp@118:         {
fp@118:             case 0x000A:
fp@118:                 if (ec_slave_fetch_strings(slave, cat_data)) {
fp@118:                     kfree(cat_data);
fp@118:                     return -1;
fp@118:                 }
fp@118:                 break;
fp@118:             case 0x001E:
fp@118:             case 0x0001:
fp@118:                 ec_slave_fetch_general(slave, cat_data);
fp@118:                 break;
fp@118:             case 0x0028:
fp@118:             case 0x0002:
fp@118:                 ec_slave_fetch_fmmu(slave, cat_data);
fp@118:                 break;
fp@118:             case 0x0029:
fp@118:             case 0x0003:
fp@118:                 ec_slave_fetch_sync(slave, cat_data);
fp@118:                 break;
fp@118:             case 0x0032:
fp@118:             case 0x0004:
fp@118:                 ec_slave_fetch_txpdo(slave, cat_data);
fp@118:                 break;
fp@118:             case 0x0033:
fp@118:             case 0x0005:
fp@118:                 ec_slave_fetch_rxpdo(slave, cat_data);
fp@118:                 break;
fp@118:             default:
fp@118:                 EC_WARN("Unknown category header 0x%04X in slave %i.\n",
fp@118:                         header, slave->ring_position);
fp@118:         }
fp@118: 
fp@118:         word_offset += 2 + word_count;
fp@118:     }
fp@118: 
fp@118:     kfree(cat_data);
fp@118:     return 0;
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@118:    Holt die Daten einer String-Kategorie.
fp@118: 
fp@118:    \return 0 wenn alles ok, sonst < 0
fp@118: */
fp@118: 
fp@118: int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@118:                            const uint8_t *data /**< Kategoriedaten */
fp@118:                            )
fp@118: {
fp@118:     unsigned int string_count, i;
fp@118:     size_t size;
fp@118:     off_t offset;
fp@118:     ec_slave_string_t *string;
fp@118: 
fp@118:     string_count = data[0];
fp@118:     offset = 1;
fp@118:     for (i = 0; i < string_count; i++) {
fp@118:         size = data[offset];
fp@121:         // Speicher fˇür String-Objekt und Daten in einem Rutsch allozieren
fp@118:         if (!(string = (ec_slave_string_t *) kmalloc(sizeof(ec_slave_string_t)
fp@118:                                                      + size + 1,
fp@118:                                                      GFP_KERNEL))) {
fp@118:             EC_ERR("Failed to allocate string memory.\n");
fp@118:             return -1;
fp@118:         }
fp@121:         string->size = size;
fp@121:         string->data = (char *) string + sizeof(ec_slave_string_t);
fp@118:         memcpy(string->data, data + offset + 1, size);
fp@118:         string->data[size] = 0x00;
fp@121:         list_add_tail(&string->list, &slave->eeprom_strings);
fp@118:         offset += 1 + size;
fp@118:     }
fp@118: 
fp@118:     return 0;
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@118:    Holt die Daten einer General-Kategorie.
fp@118: */
fp@118: 
fp@118: void ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@118:                             const uint8_t *data /**< Kategorie-Daten */
fp@118:                             )
fp@118: {
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@118:    Holt die Daten einer FMMU-Kategorie.
fp@118: */
fp@118: 
fp@118: void ec_slave_fetch_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@118:                          const uint8_t *data /**< Kategorie-Daten */
fp@118:                          )
fp@118: {
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@118:    Holt die Daten einer Sync-Manager-Kategorie.
fp@118: */
fp@118: 
fp@118: void ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@118:                          const uint8_t *data /**< Kategorie-Daten */
fp@118:                          )
fp@118: {
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@118:    Holt die Daten einer TXPDO-Kategorie.
fp@118: */
fp@118: 
fp@118: void ec_slave_fetch_txpdo(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@118:                           const uint8_t *data /**< Kategorie-Daten */
fp@118:                           )
fp@118: {
fp@118: }
fp@118: 
fp@118: /*****************************************************************************/
fp@118: 
fp@118: /**
fp@118:    Holt die Daten einer RXPDO-Kategorie.
fp@118: */
fp@118: 
fp@118: void ec_slave_fetch_rxpdo(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@118:                           const uint8_t *data /**< Kategorie-Daten */
fp@118:                           )
fp@118: {
fp@114: }
fp@114: 
fp@114: /*****************************************************************************/
fp@114: 
fp@114: /**
fp@121:    Bestˇätigt einen Fehler beim Zustandswechsel.
fp@73: 
fp@91:    \todo Funktioniert noch nicht...
fp@73: */
fp@73: 
fp@73: void ec_slave_state_ack(ec_slave_t *slave,
fp@121:                         /**< Slave, dessen Zustand geˇändert werden soll */
fp@73:                         uint8_t state
fp@73:                         /**< Alter Zustand */
fp@73:                         )
fp@73: {
fp@98:     ec_command_t command;
fp@101:     uint8_t data[2];
fp@98:     cycles_t start, end, timeout;
fp@73: 
fp@77:     EC_WRITE_U16(data, state | EC_ACK);
fp@73: 
fp@98:     ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data);
fp@98:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:         EC_WARN("State %02X acknowledge failed on slave %i!\n",
fp@89:                 state, slave->ring_position);
fp@73:         return;
fp@73:     }
fp@73: 
fp@98:     start = get_cycles();
fp@119:     timeout = (cycles_t) 10 * cpu_khz; // 10ms
fp@98: 
fp@113:     while (1)
fp@73:     {
fp@113:         udelay(100); // Dem Slave etwas Zeit lassen...
fp@113: 
fp@98:         ec_command_init_nprd(&command, slave->station_address, 0x0130, 2);
fp@98:         if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:             EC_WARN("State %02X acknowledge checking failed on slave %i!\n",
fp@89:                     state, slave->ring_position);
fp@73:             return;
fp@73:         }
fp@73: 
fp@98:         end = get_cycles();
fp@98: 
fp@98:         if (unlikely(EC_READ_U8(command.data) != state)) {
fp@84:             EC_WARN("Could not acknowledge state %02X on slave %i (code"
fp@84:                     " %02X)!\n", state, slave->ring_position,
fp@98:                     EC_READ_U8(command.data));
fp@73:             return;
fp@73:         }
fp@73: 
fp@98:         if (likely(EC_READ_U8(command.data) == state)) {
fp@84:             EC_INFO("Acknowleged state %02X on slave %i.\n", state,
fp@84:                     slave->ring_position);
fp@73:             return;
fp@73:         }
fp@113: 
fp@113:         if (unlikely((end - start) >= timeout)) {
fp@113:             EC_WARN("Could not check state acknowledgement %02X of slave %i -"
fp@113:                     " Timeout while checking!\n", state, slave->ring_position);
fp@113:             return;
fp@113:         }
fp@73:     }
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@121:    ˇÄndert den Zustand eines Slaves.
fp@73: 
fp@73:    \return 0 bei Erfolg, sonst < 0
fp@73: */
fp@73: 
fp@73: int ec_slave_state_change(ec_slave_t *slave,
fp@121:                           /**< Slave, dessen Zustand geˇändert werden soll */
fp@73:                           uint8_t state
fp@73:                           /**< Neuer Zustand */
fp@73:                           )
fp@73: {
fp@98:     ec_command_t command;
fp@101:     uint8_t data[2];
fp@98:     cycles_t start, end, timeout;
fp@73: 
fp@77:     EC_WRITE_U16(data, state);
fp@73: 
fp@98:     ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data);
fp@98:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:         EC_ERR("Failed to set state %02X on slave %i!\n",
fp@89:                state, slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@98:     start = get_cycles();
fp@119:     timeout = (cycles_t) 10 * cpu_khz; // 10ms
fp@98: 
fp@113:     while (1)
fp@73:     {
fp@98:         udelay(100); // Dem Slave etwas Zeit lassen...
fp@98: 
fp@98:         ec_command_init_nprd(&command, slave->station_address, 0x0130, 2);
fp@98:         if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:             EC_ERR("Failed to check state %02X on slave %i!\n",
fp@84:                    state, slave->ring_position);
fp@73:             return -1;
fp@73:         }
fp@73: 
fp@98:         end = get_cycles();
fp@98: 
fp@98:         if (unlikely(EC_READ_U8(command.data) & 0x10)) { // State change error
fp@84:             EC_ERR("Could not set state %02X - Slave %i refused state change"
fp@84:                    " (code %02X)!\n", state, slave->ring_position,
fp@98:                    EC_READ_U8(command.data));
fp@98:             ec_slave_state_ack(slave, EC_READ_U8(command.data) & 0x0F);
fp@73:             return -1;
fp@73:         }
fp@73: 
fp@98:         if (likely(EC_READ_U8(command.data) == (state & 0x0F))) {
fp@73:             // State change successful
fp@113:             return 0;
fp@113:         }
fp@113: 
fp@113:         if (unlikely((end - start) >= timeout)) {
fp@113:             EC_ERR("Could not check state %02X of slave %i - Timeout!\n",
fp@113:                    state, slave->ring_position);
fp@113:             return -1;
fp@113:         }
fp@113:     }
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Merkt eine FMMU-Konfiguration vor.
fp@73: 
fp@73:    Die FMMU wird so konfiguriert, dass sie den gesamten Datenbereich des
fp@121:    entsprechenden Sync-Managers abdeckt. Fˇür jede Domˇäne werden separate
fp@73:    FMMUs konfiguriert.
fp@73: 
fp@73:    Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als
fp@121:    Erfolg zurˇückgegeben.
fp@73: 
fp@73:    \return 0 bei Erfolg, sonst < 0
fp@73: */
fp@73: 
fp@73: int ec_slave_set_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@121:                       const ec_domain_t *domain, /**< Domˇäne */
fp@73:                       const ec_sync_t *sync  /**< Sync-Manager */
fp@73:                       )
fp@73: {
fp@73:     unsigned int i;
fp@73: 
fp@73:     // FMMU schon vorgemerkt?
fp@73:     for (i = 0; i < slave->fmmu_count; i++)
fp@73:         if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
fp@73:             return 0;
fp@73: 
fp@91:     // Neue FMMU reservieren...
fp@91: 
fp@73:     if (slave->fmmu_count >= slave->base_fmmu_count) {
fp@84:         EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     slave->fmmus[slave->fmmu_count].domain = domain;
fp@73:     slave->fmmus[slave->fmmu_count].sync = sync;
fp@73:     slave->fmmus[slave->fmmu_count].logical_start_address = 0;
fp@73:     slave->fmmu_count++;
fp@73:     slave->registered = 1;
fp@73: 
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@121:    Gibt alle Informationen ˇüber einen EtherCAT-Slave aus.
fp@73: */
fp@73: 
fp@73: void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
fp@73: {
fp@84:     EC_INFO("--- EtherCAT slave information ---\n");
fp@73: 
fp@73:     if (slave->type) {
fp@84:         EC_INFO("  Vendor \"%s\", Product \"%s\": %s\n",
fp@84:                 slave->type->vendor_name, slave->type->product_name,
fp@84:                 slave->type->description);
fp@73:     }
fp@73:     else {
fp@84:         EC_INFO("  *** This slave has no type information! ***\n");
fp@84:     }
fp@84: 
fp@84:     EC_INFO("  Ring position: %i, Station address: 0x%04X\n",
fp@84:             slave->ring_position, slave->station_address);
fp@84: 
fp@84:     EC_INFO("  Base information:\n");
fp@84:     EC_INFO("    Type %u, Revision %i, Build %i\n",
fp@84:             slave->base_type, slave->base_revision, slave->base_build);
fp@84:     EC_INFO("    Supported FMMUs: %i, Sync managers: %i\n",
fp@84:             slave->base_fmmu_count, slave->base_sync_count);
fp@84: 
fp@121:     EC_INFO("  EEPROM data:\n");
fp@114:     EC_INFO("    Configured station alias: 0x%04X (%i)\n", slave->sii_alias,
fp@114:             slave->sii_alias);
fp@84:     EC_INFO("    Vendor-ID: 0x%08X, Product code: 0x%08X\n",
fp@84:             slave->sii_vendor_id, slave->sii_product_code);
fp@84:     EC_INFO("    Revision number: 0x%08X, Serial number: 0x%08X\n",
fp@84:             slave->sii_revision_number, slave->sii_serial_number);
fp@121:     if (slave->eeprom_name)
fp@121:         EC_INFO("    Name: %s\n", slave->eeprom_name);
fp@121:     if (slave->eeprom_group)
fp@121:         EC_INFO("    Group: %s\n", slave->eeprom_group);
fp@121:     if (slave->eeprom_desc)
fp@121:         EC_INFO("    Description: %s\n", slave->eeprom_desc);
fp@121: }
fp@121: 
fp@121: /*****************************************************************************/
fp@121: 
fp@121: /**
fp@121:    Gibt die Zˇählerstˇände der CRC-Fault-Counter aus und setzt diese zurˇück.
fp@74: 
fp@74:    \return 0 bei Erfolg, sonst < 0
fp@74: */
fp@74: 
fp@74: int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
fp@74: {
fp@98:     ec_command_t command;
fp@74:     uint8_t data[4];
fp@74: 
fp@98:     ec_command_init_nprd(&command, slave->station_address, 0x0300, 4);
fp@98:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:         EC_WARN("Reading CRC fault counters failed on slave %i!\n",
fp@84:                 slave->ring_position);
fp@74:         return -1;
fp@74:     }
fp@74: 
fp@74:     // No CRC faults.
fp@98:     if (!EC_READ_U16(command.data) && !EC_READ_U16(command.data + 2)) return 0;
fp@74: 
fp@84:     EC_WARN("CRC faults on slave %i. A: %i, B: %i\n", slave->ring_position,
fp@98:             EC_READ_U16(command.data), EC_READ_U16(command.data + 2));
fp@74: 
fp@74:     // Reset CRC counters
fp@77:     EC_WRITE_U16(data,     0x0000);
fp@77:     EC_WRITE_U16(data + 2, 0x0000);
fp@98:     ec_command_init_npwr(&command, slave->station_address, 0x0300, 4, data);
fp@98:     if (unlikely(ec_master_simple_io(slave->master, &command))) {
fp@89:         EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
fp@84:                 slave->ring_position);
fp@74:         return -1;
fp@74:     }
fp@74: 
fp@74:     return 0;
fp@74: }
fp@74: 
fp@74: /*****************************************************************************/
fp@74: 
fp@42: /* Emacs-Konfiguration
fp@42: ;;; Local Variables: ***
fp@73: ;;; c-basic-offset:4 ***
fp@42: ;;; End: ***
fp@42: */
fp@114: