# HG changeset patch # User Florian Pose # Date 1143027764 0 # Node ID bbc963b9fead44cbc8e5d0a39d6496534d83fb41 # Parent b01bd5b830d7a27776c15115a1b421896068b1cd Restliche EEPROM-Daten ausgelesen. diff -r b01bd5b830d7 -r bbc963b9fead master/slave.c --- a/master/slave.c Tue Mar 21 20:25:50 2006 +0000 +++ b/master/slave.c Wed Mar 22 11:42:44 2006 +0000 @@ -21,10 +21,8 @@ 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 *); -void ec_slave_fetch_fmmu(ec_slave_t *, const uint8_t *); -void ec_slave_fetch_sync(ec_slave_t *, const uint8_t *); -void ec_slave_fetch_txpdo(ec_slave_t *, const uint8_t *); -void ec_slave_fetch_rxpdo(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 **); /*****************************************************************************/ @@ -53,11 +51,12 @@ slave->type = NULL; slave->registered = 0; slave->fmmu_count = 0; - - INIT_LIST_HEAD(&slave->eeprom_strings); slave->eeprom_name = NULL; slave->eeprom_group = NULL; slave->eeprom_desc = NULL; + INIT_LIST_HEAD(&slave->eeprom_strings); + INIT_LIST_HEAD(&slave->eeprom_syncs); + INIT_LIST_HEAD(&slave->eeprom_pdos); } /*****************************************************************************/ @@ -68,14 +67,38 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */) { - ec_slave_string_t *string, *next; + 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; // Alle Strings freigeben - list_for_each_entry_safe(string, next, &slave->eeprom_strings, list) { + 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); @@ -299,7 +322,7 @@ int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT-Slave */) { - uint16_t word_offset, header, word_count; + uint16_t word_offset, cat_type, word_count; uint32_t value; uint8_t *cat_data; unsigned int i; @@ -314,16 +337,16 @@ } while (1) { - // read category header + // read category type if (ec_slave_sii_read(slave, word_offset, &value)) { - EC_ERR("Unable to read category header and size.\n"); + EC_ERR("Unable to read category header.\n"); goto out_free; } // Last category? if ((value & 0xFFFF) == 0xFFFF) break; - header = value & 0x7FFF; + cat_type = value & 0x7FFF; word_count = (value >> 16) & 0xFFFF; // Fetch category data @@ -344,36 +367,33 @@ } } - switch (header) + switch (cat_type) { case 0x000A: if (ec_slave_fetch_strings(slave, cat_data)) goto out_free; break; case 0x001E: - case 0x0001: if (ec_slave_fetch_general(slave, cat_data)) goto out_free; break; case 0x0028: - case 0x0002: - ec_slave_fetch_fmmu(slave, cat_data); break; case 0x0029: - case 0x0003: - ec_slave_fetch_sync(slave, cat_data); + if (ec_slave_fetch_sync(slave, cat_data, word_count)) + goto out_free; break; case 0x0032: - case 0x0004: - ec_slave_fetch_txpdo(slave, cat_data); + if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_TX_PDO)) + goto out_free; break; case 0x0033: - case 0x0005: - ec_slave_fetch_rxpdo(slave, cat_data); + if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_RX_PDO)) + goto out_free; break; default: - EC_WARN("Unknown category header 0x%04X in slave %i.\n", - header, slave->ring_position); + EC_WARN("Unknown category type 0x%04X in slave %i.\n", + cat_type, slave->ring_position); } word_offset += 2 + word_count; @@ -402,21 +422,20 @@ unsigned int string_count, i; size_t size; off_t offset; - ec_slave_string_t *string; + 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_slave_string_t *) kmalloc(sizeof(ec_slave_string_t) - + size + 1, - GFP_KERNEL))) { + 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->data = (char *) string + sizeof(ec_slave_string_t); + 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); @@ -449,25 +468,36 @@ /*****************************************************************************/ /** - Holt die Daten einer FMMU-Kategorie. -*/ - -void ec_slave_fetch_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */ - const uint8_t *data /**< Kategorie-Daten */ - ) -{ -} - -/*****************************************************************************/ - -/** Holt die Daten einer Sync-Manager-Kategorie. */ -void ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT-Slave */ - const uint8_t *data /**< Kategorie-Daten */ - ) -{ +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; } /*****************************************************************************/ @@ -476,22 +506,58 @@ Holt die Daten einer TXPDO-Kategorie. */ -void ec_slave_fetch_txpdo(ec_slave_t *slave, /**< EtherCAT-Slave */ - const uint8_t *data /**< Kategorie-Daten */ - ) -{ -} - -/*****************************************************************************/ - -/** - Holt die Daten einer RXPDO-Kategorie. -*/ - -void ec_slave_fetch_rxpdo(ec_slave_t *slave, /**< EtherCAT-Slave */ - const uint8_t *data /**< Kategorie-Daten */ - ) -{ +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; } /*****************************************************************************/ @@ -502,26 +568,40 @@ int ec_slave_locate_string(ec_slave_t *slave, unsigned int index, char **ptr) { - ec_slave_string_t *string; - + 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)) { - 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); - break; - } - } - + 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; } @@ -704,6 +784,10 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */) { + ec_eeprom_sync_t *sync; + ec_eeprom_pdo_t *pdo; + ec_eeprom_pdo_entry_t *entry; + EC_INFO("x-- EtherCAT slave information ---------------\n"); if (slave->type) { @@ -725,19 +809,46 @@ slave->base_fmmu_count, slave->base_sync_count); 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(entry, &pdo->entries, list) { + EC_INFO("| \"%s\" 0x%04X:%X, %i Bit\n", + entry->name ? entry->name : "???", + entry->index, entry->subindex, entry->bit_length); + } + } + EC_INFO("x---------------------------------------------\n"); } diff -r b01bd5b830d7 -r bbc963b9fead master/slave.h --- a/master/slave.h Tue Mar 21 20:25:50 2006 +0000 +++ b/master/slave.h Wed Mar 22 11:42:44 2006 +0000 @@ -21,17 +21,18 @@ typedef enum { - EC_SLAVE_STATE_UNKNOWN = 0x00, /**< Status unbekannt */ - EC_SLAVE_STATE_INIT = 0x01, /**< Init-Zustand (Keine Mailbox- - Kommunikation, Kein I/O) */ - EC_SLAVE_STATE_PREOP = 0x02, /**< Pre-Operational (Mailbox- - Kommunikation, Kein I/O) */ - EC_SLAVE_STATE_SAVEOP = 0x04, /**< Save-Operational (Mailbox- - Kommunikation und Input Update) */ - EC_SLAVE_STATE_OP = 0x08, /**< Operational, (Mailbox- - Kommunikation und Input/Output Update) */ - EC_ACK = 0x10 /**< Acknoledge-Bit beim Zustandswechsel - (dies ist kein eigener Zustand) */ + EC_SLAVE_STATE_UNKNOWN = 0x00, + /**< Status unbekannt */ + EC_SLAVE_STATE_INIT = 0x01, + /**< Init-Zustand (Keine Mailbox-Kommunikation, Kein I/O) */ + EC_SLAVE_STATE_PREOP = 0x02, + /**< Pre-Operational (Mailbox-Kommunikation, Kein I/O) */ + EC_SLAVE_STATE_SAVEOP = 0x04, + /**< Save-Operational (Mailbox-Kommunikation und Input Update) */ + EC_SLAVE_STATE_OP = 0x08, + /**< Operational, (Mailbox-Kommunikation und Input/Output Update) */ + EC_ACK = 0x10 + /**< Acknoledge-Bit beim Zustandswechsel (kein eigener Zustand) */ } ec_slave_state_t; @@ -52,7 +53,7 @@ /*****************************************************************************/ /** - EEPROM-String. + String im EEPROM eines EtherCAT-Slaves. */ typedef struct @@ -61,7 +62,70 @@ size_t size; char *data; } -ec_slave_string_t; +ec_eeprom_string_t; + +/*****************************************************************************/ + +/** + Sync-Manager-Konfiguration laut EEPROM. +*/ + +typedef struct +{ + struct list_head list; + unsigned int index; + uint16_t physical_start_address; + uint16_t length; + uint8_t control_register; + uint8_t enable; +} +ec_eeprom_sync_t; + +/*****************************************************************************/ + +/** + PDO-Typ. +*/ + +typedef enum +{ + EC_RX_PDO, + EC_TX_PDO +} +ec_pdo_type_t; + +/*****************************************************************************/ + +/** + PDO-Beschreibung im EEPROM. +*/ + +typedef struct +{ + struct list_head list; + ec_pdo_type_t type; + uint16_t index; + uint8_t sync_manager; + char *name; + struct list_head entries; +} +ec_eeprom_pdo_t; + +/*****************************************************************************/ + +/** + PDO-Entry-Beschreibung im EEPROM. +*/ + +typedef struct +{ + struct list_head list; + uint16_t index; + uint8_t subindex; + char *name; + uint8_t bit_length; +} +ec_eeprom_pdo_entry_t; /*****************************************************************************/ @@ -100,6 +164,8 @@ uint8_t fmmu_count; /**< Wieviele FMMUs schon benutzt sind. */ struct list_head eeprom_strings; /**< Strings im EEPROM */ + struct list_head eeprom_syncs; /**< Syncmanager-Konfigurationen (EEPROM) */ + struct list_head eeprom_pdos; /**< PDO-Beschreibungen im EEPROM */ char *eeprom_name; /**< Slave-Name laut Hersteller */ char *eeprom_group; /**< Slave-Beschreibung laut Hersteller */