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@98: #include "command.h"
fp@98: #include "master.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@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@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@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@73:                       /**< Zeiger auf einen 4 Byte großen 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@77:     EC_WRITE_U8 (data,     0x00);
fp@77:     EC_WRITE_U8 (data + 1, 0x01);
fp@77:     EC_WRITE_U16(data + 2, offset);
fp@77:     EC_WRITE_U16(data + 4, 0x0000);
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@73:     // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
fp@73:     // den Status auslesen, bis das Bit weg ist.
fp@73: 
fp@98:     start = get_cycles();
fp@98:     timeout = cpu_khz; // 1ms
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@98:             memcpy(target, command.data + 6, 4);
fp@113:             return 0;
fp@113:         }
fp@113: 
fp@113:         if (unlikely((end - start) >= timeout)) {
fp@113:             EC_ERR("SSI-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@73:    Bestätigt 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@73:                         /**< Slave, dessen Zustand geändert 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@98:     timeout = cpu_khz; // 1ms
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@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@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@98:     timeout = cpu_khz; // 1ms
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@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@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@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@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@84:     EC_INFO("  Slave information interface:\n");
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@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@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: */