Unbekannte Klemmen erlaubt, EL5001 integriert.
authorFlorian Pose <fp@igh-essen.com>
Fri, 03 Feb 2006 10:46:33 +0000
changeset 63 0333d8ebfff5
parent 62 0fb2a690f4d0
child 64 ea6ccf12c612
Unbekannte Klemmen erlaubt, EL5001 integriert.
master/master.c
master/types.c
--- a/master/master.c	Thu Jan 26 15:52:01 2006 +0000
+++ b/master/master.c	Fri Feb 03 10:46:33 2006 +0000
@@ -415,6 +415,7 @@
     ec_slave_init(slave);
 
     // Set ring position
+
     slave->ring_position = -i;
     slave->station_address = i + 1;
 
@@ -492,10 +493,10 @@
     }
 
     if (unlikely(!slave->type)) {
-      printk(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at "
-             " position %i.\n", slave->sii_vendor_id, slave->sii_product_code,
-             i);
-      return -1;
+      printk(KERN_WARNING "EtherCAT: Unknown slave device (vendor 0x%08X, code"
+             " 0x%08X) at position %i.\n", slave->sii_vendor_id,
+             slave->sii_product_code, i);
+      return 0;
     }
   }
 
@@ -615,9 +616,8 @@
   }
 
   if (unlikely(cmd.working_counter != 1)) {
-    printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i (%s %s)"
-           " did not respond!\n", state_and_ack, slave->ring_position * (-1),
-           slave->type->vendor_name, slave->type->product_name);
+    printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i did not"
+           " respond!\n", state_and_ack, slave->ring_position * (-1));
     return -1;
   }
 
@@ -635,14 +635,15 @@
     }
 
     if (unlikely(cmd.working_counter != 1)) {
-      printk(KERN_ERR "EtherCAT: Could not check state %02X - Device did not"
-             " respond!\n", state_and_ack);
+      printk(KERN_ERR "EtherCAT: Could not check state %02X - Device %i did"
+             " not respond!\n", state_and_ack, slave->ring_position * (-1));
       return -1;
     }
 
     if (unlikely(cmd.data[0] & 0x10)) { // State change error
-      printk(KERN_ERR "EtherCAT: Could not set state %02X - Device refused"
-             " state change (code %02X)!\n", state_and_ack, cmd.data[0]);
+      printk(KERN_ERR "EtherCAT: Could not set state %02X - Device %i refused"
+             " state change (code %02X)!\n", state_and_ack,
+             slave->ring_position * (-1), cmd.data[0]);
       return -1;
     }
 
@@ -655,8 +656,9 @@
   }
 
   if (unlikely(!tries_left)) {
-    printk(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while"
-           " checking!\n", state_and_ack);
+    printk(KERN_ERR "EtherCAT: Could not check state %02X of slave %i -"
+           " Timeout while checking!\n", state_and_ack,
+           slave->ring_position * (-1));
     return -1;
   }
 
@@ -767,6 +769,11 @@
     return NULL;
   }
 
+  if (!slave->type) {
+    printk(KERN_ERR "EtherCAT: Unknown slave at position %i!\n", bus_index);
+    return NULL;
+  }
+
   type = slave->type;
 
   if (strcmp(vendor_name, type->vendor_name) ||
@@ -873,11 +880,18 @@
   for (i = 0; i < master->bus_slaves_count; i++)
   {
     slave = master->bus_slaves + i;
+
+    if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_INIT) != 0))
+      return -1;
+
+    // Check if slave was registered...
+    if (!slave->registered) {
+      printk(KERN_INFO "EtherCAT: Slave %i was not registered.\n", i);
+      continue;
+    }
+
     type = slave->type;
 
-    if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_INIT) != 0))
-      return -1;
-
     // Resetting FMMU's
 
     memset(data, 0x00, 256);
@@ -911,14 +925,6 @@
       }
     }
 
-    // Check if slave was registered...
-
-    if (!slave->registered) {
-      printk(KERN_INFO "EtherCAT: Slave %i (%s %s) was not registered.\n",
-             i, type->vendor_name, type->product_name);
-      continue;
-    }
-
     // Init Mailbox communication
 
     if (type->features == EC_MAILBOX_SLAVE)
--- a/master/types.c	Thu Jan 26 15:52:01 2006 +0000
+++ b/master/types.c	Fri Feb 03 10:46:33 2006 +0000
@@ -15,7 +15,15 @@
 
 /*****************************************************************************/
 
-/* Konfigurationen der Sync-Manager */
+/*
+  Konfigurationen der Sync-Manager
+
+  Byte 1-2: Physical Start Address
+  Byte 3-4: Data Length
+  Byte   5: Control Byte
+  Byte   6: Status Byte (read only)
+  Byte 7-8: Enable
+*/
 
 unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
 unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
@@ -29,7 +37,22 @@
 
 unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
 
-/* Konfigurationen der Memory-Management-Units */
+unsigned char sm2_5001[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
+unsigned char sm3_5001[] = {0x00, 0x11, 0x05, 0x00, 0x20, 0x00, 0x01, 0x00};
+
+/*
+  Konfigurationen der Memory-Management-Units
+
+  Byte   1-4: Logical Start Address (is set later)
+  Byte   5-6: Length
+  Byte     7: Logical start bit
+  Byte     8: Logical end bit
+  Byte  9-10: Physical start address
+  Byte    11: Physical start bit
+  Byte    12: Direction (1: in, 2: out)
+  Byte 13-14: Channel enable
+  Byte 15-16: Reserved
+*/
 
 unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
                               0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
@@ -43,63 +66,66 @@
 unsigned char fmmu0_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
                               0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
 
+unsigned char fmmu0_5001[] = {0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x07,
+                              0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
+
 /*****************************************************************************/
 
 /* Klemmen-Objekte */
 
-ec_slave_type_t Beckhoff_EK1100[] =
-{{
-  "Beckhoff", "EK1100", "Bus Coupler",
-  EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
-}};
+ec_slave_type_t Beckhoff_EK1100 =
+{
+    "Beckhoff", "EK1100", "Bus Coupler",
+    EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
+};
 
-ec_slave_type_t Beckhoff_EK1110[] =
-{{
-  "Beckhoff", "EK1110", "Extension terminal",
-  EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
-}};
+ec_slave_type_t Beckhoff_EK1110 =
+{
+    "Beckhoff", "EK1110", "Extension terminal",
+    EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
+};
 
-ec_slave_type_t Beckhoff_EL1014[] =
-{{
-  "Beckhoff", "EL1014", "4x Digital Input",
-  EC_SIMPLE_SLAVE, sm0_1014, NULL, NULL, NULL, fmmu0_1014, 1
-}};
+ec_slave_type_t Beckhoff_EL1014 =
+{
+    "Beckhoff", "EL1014", "4x Digital Input",
+    EC_SIMPLE_SLAVE, sm0_1014, NULL, NULL, NULL, fmmu0_1014, 1
+};
 
-ec_slave_type_t Beckhoff_EL2004[] =
-{{
-  "Beckhoff", "EL2004", "4x Digital Output",
-  EC_SIMPLE_SLAVE, sm0_2004, NULL, NULL, NULL, fmmu0_2004, 1
-}};
+ec_slave_type_t Beckhoff_EL2004 =
+{
+    "Beckhoff", "EL2004", "4x Digital Output",
+    EC_SIMPLE_SLAVE, sm0_2004, NULL, NULL, NULL, fmmu0_2004, 1
+};
 
-ec_slave_type_t Beckhoff_EL3102[] =
-{{
-  "Beckhoff", "EL3102", "2x Analog Input diff.",
-  EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
-}};
+ec_slave_type_t Beckhoff_EL3102 =
+{
+    "Beckhoff", "EL3102", "2x Analog Input diff.",
+    EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
+};
 
-ec_slave_type_t Beckhoff_EL3162[] =
-{{
-  "Beckhoff", "EL3162", "2x Analog Input",
-  EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
-}};
+ec_slave_type_t Beckhoff_EL3162 =
+{
+    "Beckhoff", "EL3162", "2x Analog Input",
+    EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
+};
 
-ec_slave_type_t Beckhoff_EL4102[] =
-{{
-  "Beckhoff", "EL4102", "2x Analog Output",
-  EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
-}};
+ec_slave_type_t Beckhoff_EL4102 =
+{
+    "Beckhoff", "EL4102", "2x Analog Output",
+    EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
+};
 
-ec_slave_type_t Beckhoff_EL4132[] =
-{{
-  "Beckhoff", "EL4132", "2x Analog Output diff.",
-  EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
-}};
+ec_slave_type_t Beckhoff_EL4132 =
+{
+    "Beckhoff", "EL4132", "2x Analog Output diff.",
+    EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
+};
 
-ec_slave_type_t Beckhoff_EL5001[] =
-{{
-  "Beckhoff", "EL5001", "SSI-Interface", // Noch nicht eingepflegt...
-  EC_SIMPLE_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
-}};
+ec_slave_type_t Beckhoff_EL5001 =
+{
+    "Beckhoff", "EL5001", "SSI-Interface",
+    EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_5001, sm3_5001, fmmu0_5001, 5
+};
 
 /*****************************************************************************/
 
@@ -113,19 +139,18 @@
 
 ec_slave_ident_t slave_idents[] =
 {
-  {0x00000002, 0x03F63052, Beckhoff_EL1014},
-  {0x00000002, 0x044C2C52, Beckhoff_EK1100},
-  {0x00000002, 0x04562C52, Beckhoff_EK1110},
-  {0x00000002, 0x07D43052, Beckhoff_EL2004},
-  {0x00000002, 0x0C1E3052, Beckhoff_EL3102},
-  {0x00000002, 0x0C5A3052, Beckhoff_EL3162},
-  {0x00000002, 0x10063052, Beckhoff_EL4102},
-  {0x00000002, 0x10243052, Beckhoff_EL4132},
-  {0x00000002, 0x13893052, Beckhoff_EL5001}
+    {0x00000002, 0x03F63052, &Beckhoff_EL1014},
+    {0x00000002, 0x044C2C52, &Beckhoff_EK1100},
+    {0x00000002, 0x04562C52, &Beckhoff_EK1110},
+    {0x00000002, 0x07D43052, &Beckhoff_EL2004},
+    {0x00000002, 0x0C1E3052, &Beckhoff_EL3102},
+    {0x00000002, 0x0C5A3052, &Beckhoff_EL3162},
+    {0x00000002, 0x10063052, &Beckhoff_EL4102},
+    {0x00000002, 0x10243052, &Beckhoff_EL4132},
+    {0x00000002, 0x13893052, &Beckhoff_EL5001}
 };
 
 unsigned int slave_ident_count = sizeof(slave_idents)
      / sizeof(ec_slave_ident_t);
 
-
 /*****************************************************************************/