fp@39: /******************************************************************************
fp@0:  *
fp@54:  *  s l a v e . c
fp@0:  *
fp@0:  *  Methoden für 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@73: #include "frame.h"
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
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@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@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@73:     // Nichts freizugeben
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Liest alle benötigten Informationen aus einem Slave.
fp@73: */
fp@73: 
fp@73: int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
fp@73: {
fp@73:     ec_frame_t frame;
fp@73: 
fp@73:     // Read base data
fp@73:     ec_frame_init_nprd(&frame, slave->master, slave->station_address,
fp@73:                        0x0000, 6);
fp@73: 
fp@73:     if (unlikely(ec_frame_send_receive(&frame))) return -1;
fp@73: 
fp@73:     if (unlikely(frame.working_counter != 1)) {
fp@73:         printk(KERN_ERR "EtherCAT: Slave %i did not respond while reading base"
fp@73:                " data!\n", slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     slave->base_type = frame.data[0];
fp@73:     slave->base_revision = frame.data[1];
fp@73:     slave->base_build = frame.data[2] | (frame.data[3] << 8);
fp@73:     slave->base_fmmu_count = frame.data[4];
fp@73:     slave->base_sync_count = frame.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@73:     if (unlikely(ec_slave_sii_read(slave, 0x0008, &slave->sii_vendor_id))) {
fp@73:         printk(KERN_ERR "EtherCAT: 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@73:         printk(KERN_ERR "EtherCAT: 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@73:         printk(KERN_ERR "EtherCAT: 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@73:         printk(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
fp@73:         return -1;
fp@73:     }
fp@73: 
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@73:                       unsigned short int offset,
fp@73:                       /**< Adresse des zu lesenden SII-Registers */
fp@73:                       unsigned int *target
fp@73:                       /**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen
fp@73:                          der Daten */
fp@73:                       )
fp@73: {
fp@73:     ec_frame_t frame;
fp@73:     unsigned char data[10];
fp@73:     unsigned int tries_left;
fp@73: 
fp@73:     // Initiate read operation
fp@73: 
fp@73:     data[0] = 0x00;
fp@73:     data[1] = 0x01;
fp@73:     data[2] = offset & 0xFF;
fp@73:     data[3] = (offset & 0xFF00) >> 8;
fp@73:     data[4] = 0x00;
fp@73:     data[5] = 0x00;
fp@73: 
fp@73:     ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x502, 6,
fp@73:                        data);
fp@73: 
fp@73:     if (unlikely(ec_frame_send_receive(&frame))) return -1;
fp@73: 
fp@73:     if (unlikely(frame.working_counter != 1)) {
fp@73:         printk(KERN_ERR "EtherCAT: SII-read - Slave %i did not respond!\n",
fp@73:                slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     // Der Slave legt die Informationen des Slave-Information-Interface
fp@73:     // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
fp@73:     // den Status auslesen, bis das Bit weg ist.
fp@73: 
fp@73:     tries_left = 100;
fp@73:     while (likely(tries_left))
fp@73:     {
fp@73:         udelay(10);
fp@73: 
fp@73:         ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x502,
fp@73:                            10);
fp@73: 
fp@73:         if (unlikely(ec_frame_send_receive(&frame))) return -1;
fp@73: 
fp@73:         if (unlikely(frame.working_counter != 1)) {
fp@73:             printk(KERN_ERR "EtherCAT: SII-read status -"
fp@73:                    " Slave %i did not respond!\n", slave->ring_position);
fp@73:             return -1;
fp@73:         }
fp@73: 
fp@73:         if (likely((frame.data[1] & 0x81) == 0)) {
fp@73:             memcpy(target, frame.data + 6, 4);
fp@73:             break;
fp@73:         }
fp@73: 
fp@73:         tries_left--;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(!tries_left)) {
fp@73:         printk(KERN_WARNING "EtherCAT: SSI-read. Slave %i timed out!\n",
fp@73:                slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     return 0;
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Bestätigt einen Fehler beim Zustandswechsel.
fp@73: 
fp@73:    FIXME Funktioniert noch nicht...
fp@73: */
fp@73: 
fp@73: void ec_slave_state_ack(ec_slave_t *slave,
fp@73:                         /**< Slave, dessen Zustand geändert werden soll */
fp@73:                         uint8_t state
fp@73:                         /**< Alter Zustand */
fp@73:                         )
fp@73: {
fp@73:     ec_frame_t frame;
fp@73:     unsigned char data[2];
fp@73:     unsigned int tries_left;
fp@73: 
fp@73:     data[0] = state | EC_ACK;
fp@73:     data[1] = 0x00;
fp@73: 
fp@73:     ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,
fp@73:                        2, data);
fp@73: 
fp@73:     if (unlikely(ec_frame_send_receive(&frame) != 0)) {
fp@73:         printk(KERN_ERR "EtherCAT: Could no acknowledge state %02X - Unable to"
fp@73:                " send!\n", state);
fp@73:         return;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(frame.working_counter != 1)) {
fp@73:         printk(KERN_ERR "EtherCAT: Could not acknowledge state %02X - Slave"
fp@73:                " %i did not respond!\n", state, slave->ring_position);
fp@73:         return;
fp@73:     }
fp@73: 
fp@73:     tries_left = 100;
fp@73:     while (likely(tries_left))
fp@73:     {
fp@73:         udelay(10);
fp@73: 
fp@73:         ec_frame_init_nprd(&frame, slave->master, slave->station_address,
fp@73:                            0x0130, 2);
fp@73: 
fp@73:         if (unlikely(ec_frame_send_receive(&frame) != 0)) {
fp@73:             printk(KERN_ERR "EtherCAT: Could not check state acknowledgement"
fp@73:                    " %02X - Unable to send!\n", state);
fp@73:             return;
fp@73:         }
fp@73: 
fp@73:         if (unlikely(frame.working_counter != 1)) {
fp@73:             printk(KERN_ERR "EtherCAT: Could not check state acknowledgement"
fp@73:                    " %02X - Slave %i did not respond!\n", state,
fp@73:                    slave->ring_position);
fp@73:             return;
fp@73:         }
fp@73: 
fp@73:         if (unlikely(frame.data[0] != state)) {
fp@73:             printk(KERN_ERR "EtherCAT: Could not acknowledge state %02X on"
fp@73:                    " slave %i (code %02X)!\n", state, slave->ring_position,
fp@73:                    frame.data[0]);
fp@73:             return;
fp@73:         }
fp@73: 
fp@73:         if (likely(frame.data[0] == state)) {
fp@73:             printk(KERN_INFO "EtherCAT: Acknowleged state %02X on slave %i.\n",
fp@73:                    state, slave->ring_position);
fp@73:             return;
fp@73:         }
fp@73: 
fp@73:         tries_left--;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(!tries_left)) {
fp@73:         printk(KERN_ERR "EtherCAT: Could not check state acknowledgement %02X"
fp@73:                " of slave %i - Timeout while checking!\n", state,
fp@73:                slave->ring_position);
fp@73:         return;
fp@73:     }
fp@73: }
fp@73: 
fp@73: /*****************************************************************************/
fp@73: 
fp@73: /**
fp@73:    Ändert 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@73:                           /**< Slave, dessen Zustand geändert werden soll */
fp@73:                           uint8_t state
fp@73:                           /**< Neuer Zustand */
fp@73:                           )
fp@73: {
fp@73:     ec_frame_t frame;
fp@73:     unsigned char data[2];
fp@73:     unsigned int tries_left;
fp@73: 
fp@73:     data[0] = state;
fp@73:     data[1] = 0x00;
fp@73: 
fp@73:     ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,
fp@73:                        2, data);
fp@73: 
fp@73:     if (unlikely(ec_frame_send_receive(&frame) != 0)) {
fp@73:         printk(KERN_ERR "EtherCAT: Could not set state %02X - Unable to"
fp@73:                " send!\n", state);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(frame.working_counter != 1)) {
fp@73:         printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i did not"
fp@73:                " respond!\n", state, slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     tries_left = 100;
fp@73:     while (likely(tries_left))
fp@73:     {
fp@73:         udelay(10);
fp@73: 
fp@73:         ec_frame_init_nprd(&frame, slave->master, slave->station_address,
fp@73:                            0x0130, 2);
fp@73: 
fp@73:         if (unlikely(ec_frame_send_receive(&frame) != 0)) {
fp@73:             printk(KERN_ERR "EtherCAT: Could not check state %02X - Unable to"
fp@73:                    " send!\n", state);
fp@73:             return -1;
fp@73:         }
fp@73: 
fp@73:         if (unlikely(frame.working_counter != 1)) {
fp@73:             printk(KERN_ERR "EtherCAT: Could not check state %02X - Slave %i"
fp@73:                    " did not respond!\n", state, slave->ring_position);
fp@73:             return -1;
fp@73:         }
fp@73: 
fp@73:         if (unlikely(frame.data[0] & 0x10)) { // State change error
fp@73:             printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i"
fp@73:                    " refused state change (code %02X)!\n", state,
fp@73:                    slave->ring_position, frame.data[0]);
fp@73:             ec_slave_state_ack(slave, frame.data[0] & 0x0F);
fp@73:             return -1;
fp@73:         }
fp@73: 
fp@73:         if (likely(frame.data[0] == (state & 0x0F))) {
fp@73:             // State change successful
fp@73:             break;
fp@73:         }
fp@73: 
fp@73:         tries_left--;
fp@73:     }
fp@73: 
fp@73:     if (unlikely(!tries_left)) {
fp@73:         printk(KERN_ERR "EtherCAT: Could not check state %02X of slave %i -"
fp@73:                " Timeout while checking!\n", state,
fp@73:                slave->ring_position);
fp@73:         return -1;
fp@73:     }
fp@73: 
fp@73:     return 0;
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@73:    entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate
fp@73:    FMMUs konfiguriert.
fp@73: 
fp@73:    Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als
fp@73:    Erfolg zurückgegeben.
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@73:                       const ec_domain_t *domain, /**< Domäne */
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@73:     if (slave->fmmu_count >= slave->base_fmmu_count) {
fp@73:         printk(KERN_ERR "EtherCAT: Slave %i supports only %i FMMUs.\n",
fp@73:                slave->ring_position, slave->base_fmmu_count);
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@73:    Gibt alle Informationen über einen EtherCAT-Slave aus.
fp@73: */
fp@73: 
fp@73: void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
fp@73: {
fp@73:     printk(KERN_INFO "--- EtherCAT slave information ---\n");
fp@73: 
fp@73:     if (slave->type) {
fp@73:         printk(KERN_INFO "  Vendor \"%s\", Product \"%s\": %s\n",
fp@73:                slave->type->vendor_name, slave->type->product_name,
fp@73:                slave->type->description);
fp@73:     }
fp@73:     else {
fp@73:         printk(KERN_INFO "  *** This slave has no type information! ***\n");
fp@73:     }
fp@73: 
fp@73:     printk(KERN_INFO "  Ring position: %i, Station address: 0x%04X\n",
fp@73:            slave->ring_position, slave->station_address);
fp@73: 
fp@73:     printk(KERN_INFO "  Base information:\n");
fp@73:     printk(KERN_INFO "    Type %u, Revision %i, Build %i\n",
fp@73:            slave->base_type, slave->base_revision, slave->base_build);
fp@73:     printk(KERN_INFO "    Supported FMMUs: %i, Sync managers: %i\n",
fp@73:            slave->base_fmmu_count, slave->base_sync_count);
fp@73: 
fp@73:     printk(KERN_INFO "  Slave information interface:\n");
fp@73:     printk(KERN_INFO "    Vendor-ID: 0x%08X, Product code: 0x%08X\n",
fp@73:            slave->sii_vendor_id, slave->sii_product_code);
fp@73:     printk(KERN_INFO "    Revision number: 0x%08X, Serial number: 0x%08X\n",
fp@73:            slave->sii_revision_number, slave->sii_serial_number);
fp@0: }
fp@0: 
fp@39: /*****************************************************************************/
fp@0: 
fp@74: /**
fp@74:    Gibt die Zählerstände der CRC-Fault-Counter aus und setzt diese zurück.
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@74:     ec_frame_t frame;
fp@74:     uint8_t data[4];
fp@74:     uint16_t crc[2];
fp@74: 
fp@74:     ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x0300,
fp@74:                        4);
fp@74: 
fp@74:     if (unlikely(ec_frame_send_receive(&frame))) {
fp@74:         printk(KERN_WARNING "EtherCAT: Reading CRC fault counters failed"
fp@74:                " on slave %i - Could not send command!\n",
fp@74:                slave->ring_position);
fp@74:         return -1;
fp@74:     }
fp@74: 
fp@74:     if (unlikely(frame.working_counter != 1)) {
fp@74:         printk(KERN_WARNING "EtherCAT: Reading CRC fault counters -"
fp@74:                " Slave %i did not respond!\n", slave->ring_position);
fp@74:         return -1;
fp@74:     }
fp@74: 
fp@74:     crc[0] = frame.data[0] | (frame.data[1] << 8);
fp@74:     crc[1] = frame.data[2] | (frame.data[3] << 8);
fp@74: 
fp@74:     // No CRC faults.
fp@74:     if (!crc[0] && !crc[1]) return 0;
fp@74: 
fp@74:     printk(KERN_INFO "EtherCAT: CRC faults on slave %i. A: %i, B: %i\n",
fp@74:            slave->ring_position, crc[0], crc[1]);
fp@74: 
fp@74:     // Reset CRC counters
fp@74:     memset(data, 0x00, 4);
fp@74:     ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0300,
fp@74:                        4, data);
fp@74: 
fp@74:     if (unlikely(ec_frame_send_receive(&frame))) return -1;
fp@74: 
fp@74:     if (unlikely(frame.working_counter != 1)) {
fp@74:         printk(KERN_ERR "EtherCAT: Resetting CRC fault counters - Slave"
fp@74:                " %i did not respond!\n", 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: */