--- a/devices/8139too.c Tue Jan 17 18:28:15 2006 +0000
+++ b/devices/8139too.c Fri Jan 20 13:32:31 2006 +0000
@@ -2982,7 +2982,7 @@
out_ec_dev:
if (rtl_ec_dev) {
printk(KERN_INFO "Unregistering RTL8139-EtherCAT device...\n");
- EtherCAT_dev_unregister(ec_device_master_index);
+ EtherCAT_dev_unregister(ec_device_master_index, rtl_ec_dev);
rtl_ec_dev = NULL;
}
@@ -2998,14 +2998,14 @@
printk(KERN_INFO "Cleaning up RTL8139-EtherCAT module...\n");
+ pci_unregister_driver(&rtl8139_pci_driver);
+
if (rtl_ec_dev) {
printk(KERN_INFO "Unregistering RTL8139-EtherCAT device...\n");
- EtherCAT_dev_unregister(ec_device_master_index);
+ EtherCAT_dev_unregister(ec_device_master_index, rtl_ec_dev);
rtl_ec_dev = NULL;
}
- pci_unregister_driver(&rtl8139_pci_driver);
-
printk(KERN_INFO "RTL8139-EtherCAT module cleaned up.\n");
/* EtherCAT <<<<<<<<<<<<<<<<<<<<<<<<<<<<*/
--- a/include/EtherCAT_dev.h Tue Jan 17 18:28:15 2006 +0000
+++ b/include/EtherCAT_dev.h Fri Jan 20 13:32:31 2006 +0000
@@ -32,7 +32,7 @@
irqreturn_t (*)(int, void *,
struct pt_regs *),
struct module *);
-void EtherCAT_dev_unregister(unsigned int);
+void EtherCAT_dev_unregister(unsigned int, ec_device_t *);
int EtherCAT_dev_is_ec(ec_device_t *, struct net_device *);
void EtherCAT_dev_state(ec_device_t *, ec_device_state_t);
int EtherCAT_dev_receive(ec_device_t *, void *, unsigned int);
--- a/include/EtherCAT_rt.h Tue Jan 17 18:28:15 2006 +0000
+++ b/include/EtherCAT_rt.h Fri Jan 20 13:32:31 2006 +0000
@@ -14,22 +14,71 @@
struct ec_master;
typedef struct ec_master ec_master_t;
+struct ec_slave_type;
+typedef struct ec_slave_type ec_slave_type_t;
+
+struct ec_slave;
+typedef struct ec_slave ec_slave_t;
+
/*****************************************************************************/
ec_master_t *EtherCAT_rt_request_master(unsigned int master_index);
void EtherCAT_rt_release_master(ec_master_t *master);
-void *EtherCAT_rt_register_slave(ec_master_t *master, unsigned int slave_index,
- const char *vendor_name,
- const char *product_name);
+ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
+ unsigned int slave_index,
+ const char *vendor_name,
+ const char *product_name,
+ unsigned int domain);
int EtherCAT_rt_activate_slaves(ec_master_t *master);
int EtherCAT_rt_deactivate_slaves(ec_master_t *master);
-int EtherCAT_rt_domain_cycle(ec_master_t *master, unsigned int domain,
- unsigned int timeout_us);
+int EtherCAT_rt_exchange_io(ec_master_t *master, unsigned int domain,
+ unsigned int timeout_us);
+
+/*****************************************************************************/
+
+/**
+ EtherCAT-Slave
+*/
+
+struct ec_slave
+{
+ // Base data
+ unsigned char base_type; /**< Slave-Typ */
+ unsigned char base_revision; /**< Revision */
+ unsigned short base_build; /**< Build-Nummer */
+
+ // Addresses
+ short ring_position; /**< (Negative) Position des Slaves im Bus */
+ unsigned short station_address; /**< Konfigurierte Slave-Adresse */
+
+ // Slave information interface
+ unsigned int sii_vendor_id; /**< Identifikationsnummer des Herstellers */
+ unsigned int sii_product_code; /**< Herstellerspezifischer Produktcode */
+ unsigned int sii_revision_number; /**< Revisionsnummer */
+ unsigned int sii_serial_number; /**< Seriennummer der Klemme */
+
+ const ec_slave_type_t *type; /**< Zeiger auf die Beschreibung
+ des Slave-Typs */
+
+ unsigned int logical_address; /**< Konfigurierte, logische Adresse */
+
+ void *process_data; /**< Zeiger auf den Speicherbereich
+ innerhalb eines Prozessdatenobjekts */
+ void *private_data; /**< Zeiger auf privaten Datenbereich */
+ int (*configure)(ec_slave_t *); /**< Zeiger auf die Funktion zur
+ Konfiguration */
+
+ unsigned char registered; /**< Der Slave wurde registriert */
+
+ unsigned int domain; /**< Prozessdatendomäne */
+
+ int error_reported; /**< Ein Zugriffsfehler wurde bereits gemeldet */
+};
/*****************************************************************************/
--- a/master/master.c Tue Jan 17 18:28:15 2006 +0000
+++ b/master/master.c Fri Jan 20 13:32:31 2006 +0000
@@ -14,8 +14,11 @@
#include <linux/slab.h>
#include <linux/delay.h>
+#include "../include/EtherCAT_rt.h"
#include "globals.h"
#include "master.h"
+#include "slave.h"
+#include "types.h"
#include "device.h"
#include "command.h"
@@ -26,8 +29,7 @@
int ec_simple_send(ec_master_t *, ec_command_t *);
int ec_simple_receive(ec_master_t *, ec_command_t *);
void ec_output_debug_data(const ec_master_t *);
-int ec_read_slave_information(ec_master_t *, unsigned short, unsigned short,
- unsigned int *);
+int ec_sii_read(ec_master_t *, unsigned short, unsigned short, unsigned int *);
void ec_output_lost_frames(ec_master_t *);
/*****************************************************************************/
@@ -354,7 +356,7 @@
int ec_scan_for_slaves(ec_master_t *master)
{
ec_command_t cmd;
- ec_slave_t *cur;
+ ec_slave_t *slave;
unsigned int i, j;
unsigned char data[2];
@@ -380,53 +382,71 @@
// For every slave in the list
for (i = 0; i < master->bus_slaves_count; i++)
{
- cur = master->bus_slaves + i;
-
- ec_slave_init(cur);
+ slave = master->bus_slaves + i;
+
+ ec_slave_init(slave);
+
+ // Set ring position
+ slave->ring_position = -i;
+ slave->station_address = i + 1;
+
+ // Write station address
+
+ data[0] = slave->station_address & 0x00FF;
+ data[1] = (slave->station_address & 0xFF00) >> 8;
+
+ ec_command_position_write(&cmd, slave->ring_position, 0x0010, 2, data);
+
+ if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+ return -1;
+
+ if (unlikely(cmd.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Slave %i did not repond while writing"
+ " station address!\n", i);
+ return -1;
+ }
// Read base data
- ec_command_read(&cmd, cur->station_address, 0x0000, 4);
+ ec_command_read(&cmd, slave->station_address, 0x0000, 4);
if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Slave %i did not respond"
- " while reading base data!\n", i);
+ printk(KERN_ERR "EtherCAT: Slave %i did not respond while reading base"
+ " data!\n", i);
return -1;
}
// Get base data
- cur->type = cmd.data[0];
- cur->revision = cmd.data[1];
- cur->build = cmd.data[2] | (cmd.data[3] << 8);
+ slave->base_type = cmd.data[0];
+ slave->base_revision = cmd.data[1];
+ slave->base_build = cmd.data[2] | (cmd.data[3] << 8);
// Read identification from "Slave Information Interface" (SII)
- if (unlikely(ec_read_slave_information(master, cur->station_address,
- 0x0008, &cur->vendor_id) != 0)) {
+ if (unlikely(ec_sii_read(master, slave->station_address, 0x0008,
+ &slave->sii_vendor_id) != 0)) {
printk(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
return -1;
}
- if (unlikely(ec_read_slave_information(master, cur->station_address,
- 0x000A, &cur->product_code) != 0)) {
+ if (unlikely(ec_sii_read(master, slave->station_address, 0x000A,
+ &slave->sii_product_code) != 0)) {
printk(KERN_ERR "EtherCAT: Could not read SII product code!\n");
return -1;
}
- if (unlikely(ec_read_slave_information(master, cur->station_address,
- 0x000C,
- &cur->revision_number) != 0)) {
+ if (unlikely(ec_sii_read(master, slave->station_address, 0x000C,
+ &slave->sii_revision_number) != 0)) {
printk(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
return -1;
}
- if (unlikely(ec_read_slave_information(master, cur->station_address,
- 0x000E,
- &cur->serial_number) != 0)) {
+ if (unlikely(ec_sii_read(master, slave->station_address, 0x000E,
+ &slave->sii_serial_number) != 0)) {
printk(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
return -1;
}
@@ -435,37 +455,18 @@
for (j = 0; j < slave_ident_count; j++)
{
- if (unlikely(slave_idents[j].vendor_id == cur->vendor_id
- && slave_idents[j].product_code == cur->product_code))
+ if (unlikely(slave_idents[j].vendor_id == slave->sii_vendor_id
+ && slave_idents[j].product_code == slave->sii_product_code))
{
- cur->desc = slave_idents[j].desc;
+ slave->type = slave_idents[j].type;
break;
}
}
- if (unlikely(!cur->desc)) {
+ if (unlikely(!slave->type)) {
printk(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at "
- " position %i.\n", cur->vendor_id, cur->product_code, i);
- return -1;
- }
-
- // Set ring position
- cur->ring_position = -i;
- cur->station_address = i + 1;
-
- // Write station address
-
- data[0] = cur->station_address & 0x00FF;
- data[1] = (cur->station_address & 0xFF00) >> 8;
-
- ec_command_position_write(&cmd, cur->ring_position, 0x0010, 2, data);
-
- if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
- return -1;
-
- if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Slave %i did not repond"
- " while writing station address!\n", i);
+ " position %i.\n", slave->sii_vendor_id, slave->sii_product_code,
+ i);
return -1;
}
}
@@ -488,10 +489,8 @@
@return 0 bei Erfolg, sonst < 0
*/
-int ec_read_slave_information(ec_master_t *master,
- unsigned short int node_address,
- unsigned short int offset,
- unsigned int *target)
+int ec_sii_read(ec_master_t *master, unsigned short int node_address,
+ unsigned short int offset, unsigned int *target)
{
ec_command_t cmd;
unsigned char data[10];
@@ -588,13 +587,11 @@
}
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Could not set state %02X - Device \"%s %s\""
- " (%d) did not respond!\n", state_and_ack, slave->desc->vendor_name,
- slave->desc->product_name, slave->ring_position * (-1));
- return -1;
- }
-
- slave->requested_state = state_and_ack & 0x0F;
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Device %i (%s %s)"
+ " did not respond!\n", state_and_ack, slave->ring_position * (-1),
+ slave->type->vendor_name, slave->type->product_name);
+ return -1;
+ }
tries_left = 100;
while (likely(tries_left))
@@ -635,8 +632,6 @@
return -1;
}
- slave->current_state = state_and_ack & 0x0F;
-
return 0;
}
@@ -711,11 +706,14 @@
@return 0 bei Erfolg, sonst < 0
*/
-void *EtherCAT_rt_register_slave(ec_master_t *master, unsigned int bus_index,
- const char *vendor_name,
- const char *product_name, unsigned int domain)
+ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
+ unsigned int bus_index,
+ const char *vendor_name,
+ const char *product_name,
+ unsigned int domain)
{
ec_slave_t *slave;
+ const ec_slave_type_t *type;
ec_domain_t *dom;
unsigned int j;
@@ -727,16 +725,18 @@
slave = master->bus_slaves + bus_index;
- if (slave->process_data) {
+ if (slave->registered) {
printk(KERN_ERR "EtherCAT: Slave %i is already registered!\n", bus_index);
return NULL;
}
- if (strcmp(vendor_name, slave->desc->vendor_name) ||
- strcmp(product_name, slave->desc->product_name)) {
+ type = slave->type;
+
+ if (strcmp(vendor_name, type->vendor_name) ||
+ strcmp(product_name, type->product_name)) {
printk(KERN_ERR "Invalid Slave Type! Requested: \"%s %s\", present: \"%s"
- "%s\".\n", vendor_name, product_name, slave->desc->vendor_name,
- slave->desc->product_name);
+ " %s\".\n", vendor_name, product_name, type->vendor_name,
+ type->product_name);
return NULL;
}
@@ -762,17 +762,18 @@
master->domain_count++;
}
- if (dom->data_size + slave->desc->process_data_size > EC_FRAME_SIZE - 14) {
+ if (dom->data_size + type->process_data_size > EC_FRAME_SIZE - 14) {
printk(KERN_ERR "EtherCAT: Oversized domain %i: %i / %i Bytes!\n",
- dom->number, dom->data_size + slave->desc->process_data_size,
+ dom->number, dom->data_size + type->process_data_size,
EC_FRAME_SIZE - 14);
return NULL;
}
slave->process_data = dom->data + dom->data_size;
- dom->data_size += slave->desc->process_data_size;
-
- return slave->process_data;
+ dom->data_size += type->process_data_size;
+ slave->registered = 1;
+
+ return slave;
}
/*****************************************************************************/
@@ -795,14 +796,14 @@
unsigned int i;
ec_slave_t *slave;
ec_command_t cmd;
- const ec_slave_desc_t *desc;
+ const ec_slave_type_t *type;
unsigned char fmmu[16];
unsigned char data[256];
for (i = 0; i < master->bus_slaves_count; i++)
{
slave = master->bus_slaves + i;
- desc = slave->desc;
+ type = slave->type;
if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_INIT) != 0))
return -1;
@@ -824,7 +825,7 @@
// Resetting Sync Manager channels
- if (desc->type != EC_NOSYNC_SLAVE)
+ if (type->features != EC_NOSYNC_SLAVE)
{
memset(data, 0x00, 256);
@@ -840,14 +841,21 @@
}
}
+ // 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 (desc->type == EC_MAILBOX_SLAVE)
+ if (type->features == EC_MAILBOX_SLAVE)
{
- if (desc->sm0)
+ if (type->sm0)
{
- ec_command_write(&cmd, slave->station_address, 0x0800, 8,
- desc->sm0);
+ ec_command_write(&cmd, slave->station_address, 0x0800, 8, type->sm0);
if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
return -1;
@@ -859,10 +867,9 @@
}
}
- if (desc->sm1)
+ if (type->sm1)
{
- ec_command_write(&cmd, slave->station_address, 0x0808, 8,
- desc->sm1);
+ ec_command_write(&cmd, slave->station_address, 0x0808, 8, type->sm1);
if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
return -1;
@@ -883,7 +890,7 @@
// Set FMMU's
- if (desc->fmmu0)
+ if (type->fmmu0)
{
if (unlikely(!slave->process_data)) {
printk(KERN_ERR "EtherCAT: Warning - Slave %04X is not assigned to any"
@@ -891,7 +898,7 @@
return -1;
}
- memcpy(fmmu, desc->fmmu0, 16);
+ memcpy(fmmu, type->fmmu0, 16);
fmmu[0] = slave->logical_address & 0x000000FF;
fmmu[1] = (slave->logical_address & 0x0000FF00) >> 8;
@@ -912,12 +919,11 @@
// Set Sync Managers
- if (desc->type != EC_MAILBOX_SLAVE)
+ if (type->features != EC_MAILBOX_SLAVE)
{
- if (desc->sm0)
+ if (type->sm0)
{
- ec_command_write(&cmd, slave->station_address, 0x0800, 8,
- desc->sm0);
+ ec_command_write(&cmd, slave->station_address, 0x0800, 8, type->sm0);
if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
return -1;
@@ -929,10 +935,9 @@
}
}
- if (desc->sm1)
+ if (type->sm1)
{
- ec_command_write(&cmd, slave->station_address, 0x0808, 8,
- desc->sm1);
+ ec_command_write(&cmd, slave->station_address, 0x0808, 8, type->sm1);
if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
return -1;
@@ -945,9 +950,9 @@
}
}
- if (desc->sm2)
+ if (type->sm2)
{
- ec_command_write(&cmd, slave->station_address, 0x0810, 8, desc->sm2);
+ ec_command_write(&cmd, slave->station_address, 0x0810, 8, type->sm2);
if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
return -1;
@@ -959,9 +964,9 @@
}
}
- if (desc->sm3)
+ if (type->sm3)
{
- ec_command_write(&cmd, slave->station_address, 0x0818, 8, desc->sm3);
+ ec_command_write(&cmd, slave->station_address, 0x0818, 8, type->sm3);
if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
return -1;
@@ -1024,8 +1029,8 @@
@return 0 bei Erfolg, sonst < 0
*/
-int EtherCAT_rt_domain_cycle(ec_master_t *master, unsigned int domain,
- unsigned int timeout_us)
+int EtherCAT_rt_exchange_io(ec_master_t *master, unsigned int domain,
+ unsigned int timeout_us)
{
unsigned int i;
ec_domain_t *dom;
@@ -1103,7 +1108,7 @@
EXPORT_SYMBOL(EtherCAT_rt_register_slave);
EXPORT_SYMBOL(EtherCAT_rt_activate_slaves);
EXPORT_SYMBOL(EtherCAT_rt_deactivate_slaves);
-EXPORT_SYMBOL(EtherCAT_rt_domain_cycle);
+EXPORT_SYMBOL(EtherCAT_rt_exchange_io);
/*****************************************************************************/
--- a/master/master.h Tue Jan 17 18:28:15 2006 +0000
+++ b/master/master.h Fri Jan 20 13:32:31 2006 +0000
@@ -25,7 +25,7 @@
dem zugewiesenen EtherCAT-Gerät.
*/
-typedef struct ec_master
+struct ec_master
{
ec_slave_t *bus_slaves; /**< Array von Slaves auf dem Bus */
unsigned int bus_slaves_count; /**< Anzahl Slaves auf dem Bus */
@@ -46,8 +46,7 @@
unsigned int frames_lost; /**< Anzahl verlorene Frames */
unsigned long t_lost_output; /*<< Timer-Ticks bei der letzten Ausgabe von
verlorenen Frames */
-}
-ec_master_t;
+};
/*****************************************************************************/
--- a/master/module.c Tue Jan 17 18:28:15 2006 +0000
+++ b/master/module.c Fri Jan 20 13:32:31 2006 +0000
@@ -168,6 +168,7 @@
struct module *module)
{
ec_device_t *ecd;
+ ec_master_t *master;
if (master_index >= ec_master_count) {
printk(KERN_ERR "EtherCAT: Master %i does not exist!\n", master_index);
@@ -179,13 +180,15 @@
return NULL;
}
- if (ec_masters[master_index].device_registered) {
+ master = ec_masters + master_index;
+
+ if (master->device_registered) {
printk(KERN_ERR "EtherCAT: Master %i already has a device!\n",
master_index);
return NULL;
}
- ecd = &ec_masters[master_index].device;
+ ecd = &master->device;
if (ec_device_init(ecd) < 0) {
return NULL;
@@ -197,6 +200,8 @@
ecd->isr = isr;
ecd->module = module;
+ master->device_registered = 1;
+
return ecd;
}
@@ -209,15 +214,24 @@
@param device Das EtherCAT-Geraet
*/
-void EtherCAT_dev_unregister(unsigned int master_index)
-{
+void EtherCAT_dev_unregister(unsigned int master_index, ec_device_t *ecd)
+{
+ ec_master_t *master;
+
if (master_index >= ec_master_count) {
printk(KERN_WARNING "EtherCAT: Master %i does not exist!\n", master_index);
return;
}
- ec_masters[master_index].device_registered = 0;
- ec_device_clear(&ec_masters[master_index].device);
+ master = ec_masters + master_index;
+
+ if (!master->device_registered || &master->device != ecd) {
+ printk(KERN_ERR "EtherCAT: Unable to unregister device!\n");
+ return;
+ }
+
+ master->device_registered = 0;
+ ec_device_clear(ecd);
}
/******************************************************************************
@@ -235,7 +249,7 @@
@returns Zeiger auf EtherCAT-Master oder NULL, wenn Parameter ungueltig.
*/
-ec_master_t *EtherCAT_rt_request_master(int index)
+ec_master_t *EtherCAT_rt_request_master(unsigned int index)
{
ec_master_t *master;
@@ -334,3 +348,9 @@
EXPORT_SYMBOL(EtherCAT_rt_release_master);
/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:2 ***
+;;; End: ***
+*/
--- a/master/slave.c Tue Jan 17 18:28:15 2006 +0000
+++ b/master/slave.c Fri Jan 20 13:32:31 2006 +0000
@@ -28,171 +28,27 @@
void ec_slave_init(ec_slave_t *slave)
{
- slave->type = 0;
- slave->revision = 0;
- slave->build = 0;
+ slave->base_type = 0;
+ slave->base_revision = 0;
+ slave->base_build = 0;
slave->ring_position = 0;
slave->station_address = 0;
- slave->vendor_id = 0;
- slave->product_code = 0;
- slave->revision_number = 0;
- slave->serial_number = 0;
- slave->desc = NULL;
+ slave->sii_vendor_id = 0;
+ slave->sii_product_code = 0;
+ slave->sii_revision_number = 0;
+ slave->sii_serial_number = 0;
+ slave->type = NULL;
slave->logical_address = 0;
- slave->current_state = EC_SLAVE_STATE_UNKNOWN;
- slave->requested_state = EC_SLAVE_STATE_UNKNOWN;
slave->process_data = NULL;
+ slave->private_data = NULL;
+ slave->configure = NULL;
+ slave->registered = 0;
slave->domain = 0;
slave->error_reported = 0;
}
/*****************************************************************************/
-#if 0
-/**
- Liest einen bestimmten Kanal des Slaves als Integer-Wert.
-
- Prüft zuerst, ob der entsprechende Slave eine
- bekannte Beschreibung besitzt, ob dort eine
- read()-Funktion hinterlegt ist und ob die angegebene
- Kanalnummer gültig ist. Wenn ja, wird der dekodierte
- Wert zurückgegeben, sonst ist der Wert 0.
-
- @param slave EtherCAT-Slave
- @param channel Kanalnummer
-
- @return Gelesener Wert bzw. 0
-*/
-
-int EtherCAT_read_value(EtherCAT_slave_t *slave,
- unsigned int channel)
-{
- if (unlikely(!slave->desc)) {
- if (likely(slave->error_reported)) {
- printk(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)"
- " - Slave has no description.\n",
- slave->station_address, (unsigned int) slave);
- slave->error_reported = 1;
- }
- return 0;
- }
-
- if (unlikely(!slave->desc->read)) {
- if (likely(slave->error_reported)) {
- printk(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)"
- " - Slave type (%s %s) has no read method.\n",
- slave->station_address, (unsigned int) slave,
- slave->desc->vendor_name, slave->desc->product_name);
- slave->error_reported = 1;
- }
- return 0;
- }
-
- if (unlikely(channel >= slave->desc->channel_count)) {
- if (likely(slave->error_reported)) {
- printk(KERN_WARNING "EtherCAT: Reading failed on slave %4X (addr %0X)"
- " - Type (%s %s) has no channel %i.\n",
- slave->station_address, (unsigned int) slave,
- slave->desc->vendor_name, slave->desc->product_name,
- channel);
- slave->error_reported = 1;
- }
- return 0;
- }
-
- if (unlikely(!slave->process_data)) {
- if (likely(slave->error_reported)) {
- printk(KERN_WARNING "EtherCAT: Reading failed on slave %4X (addr %0X)"
- " - Slave does not belong to any process data object!\n",
- slave->station_address, (unsigned int) slave);
- slave->error_reported = 1;
- }
- return 0;
- }
-
- if (unlikely(slave->error_reported))
- slave->error_reported = 0;
-
- return slave->desc->read(slave->process_data, channel);
-}
-
-/*****************************************************************************/
-
-/**
- Schreibt einen bestimmten Kanal des Slaves als Integer-Wert .
-
- Prüft zuerst, ob der entsprechende Slave eine
- bekannte Beschreibung besitzt, ob dort eine
- write()-Funktion hinterlegt ist und ob die angegebene
- Kanalnummer gültig ist. Wenn ja, wird der Wert entsprechend
- kodiert und geschrieben.
-
- @param slave EtherCAT-Slave
- @param channel Kanalnummer
- @param value Zu schreibender Wert
-*/
-
-void EtherCAT_write_value(EtherCAT_slave_t *slave,
- unsigned int channel,
- int value)
-{
- if (unlikely(!slave->desc)) {
- if (likely(slave->error_reported)) {
- printk(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)"
- " - Slave has no description.\n",
- slave->station_address, (unsigned int) slave);
- slave->error_reported = 1;
- }
- return;
- }
-
- if (unlikely(!slave->desc->write)) {
- if (likely(slave->error_reported)) {
- printk(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)"
- " - Type (%s %s) has no write method.\n",
- slave->station_address, (unsigned int) slave,
- slave->desc->vendor_name, slave->desc->product_name);
- slave->error_reported = 1;
- }
- return;
- }
-
- if (unlikely(channel >= slave->desc->channel_count)) {
- if (likely(slave->error_reported)) {
- printk(KERN_WARNING "EtherCAT: Writing failed on slave %4X (addr %0X)"
- " - Type (%s %s) has no channel %i.\n",
- slave->station_address, (unsigned int) slave,
- slave->desc->vendor_name, slave->desc->product_name,
- channel);
- slave->error_reported = 1;
- }
- return;
- }
-
- if (unlikely(!slave->process_data)) {
- if (likely(slave->error_reported)) {
- printk(KERN_WARNING "EtherCAT: Writing failed on slave %4X (addr %0X)"
- " - Slave does not belong to any process data object!\n",
- slave->station_address, (unsigned int) slave);
- slave->error_reported = 1;
- }
- return;
- }
-
- if (unlikely(slave->error_reported))
- slave->error_reported = 0;
-
- slave->desc->write(slave->process_data, channel, value);
-}
-
-/*****************************************************************************/
-
-EXPORT_SYMBOL(EtherCAT_write_value);
-EXPORT_SYMBOL(EtherCAT_read_value);
-#endif
-
-/*****************************************************************************/
-
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:2 ***
--- a/master/slave.h Tue Jan 17 18:28:15 2006 +0000
+++ b/master/slave.h Fri Jan 20 13:32:31 2006 +0000
@@ -15,59 +15,13 @@
/*****************************************************************************/
-/**
- EtherCAT-Slave
-
- Achtung: Bei Änderungen dieser Struktur immer das Define
- ECAT_INIT_SLAVE anpassen!
-*/
-
-typedef struct
-{
- // Base data
- unsigned char type; /**< Slave-Typ */
- unsigned char revision; /**< Revision */
- unsigned short build; /**< Build-Nummer */
-
- // Addresses
- short ring_position; /**< (Negative) Position des Slaves im Bus */
- unsigned short station_address; /**< Konfigurierte Slave-Adresse */
-
- // Slave information interface
- unsigned int vendor_id; /**< Identifikationsnummer des Herstellers */
- unsigned int product_code; /**< Herstellerspezifischer Produktcode */
- unsigned int revision_number; /**< Revisionsnummer */
- unsigned int serial_number; /**< Seriennummer der Klemme */
-
- const ec_slave_desc_t *desc; /**< Zeiger auf die Beschreibung
- des Slave-Typs */
-
- unsigned int logical_address; /**< Konfigurierte, logische adresse */
-
- ec_slave_state_t current_state; /**< Aktueller Zustand */
- ec_slave_state_t requested_state; /**< Angeforderter Zustand */
-
- unsigned char *process_data; /**< Zeiger auf den Speicherbereich
- innerhalb eines Prozessdatenobjekts */
- unsigned int domain; /**< Prozessdatendomäne */
- int error_reported; /**< Ein Zugriffsfehler wurde bereits gemeldet */
-}
-ec_slave_t;
-
-#define EC_INIT_SLAVE(TYPE, DOMAIN) {0, 0, 0, 0, 0, 0, 0, 0, 0, \
- TYPE, 0, ECAT_STATE_UNKNOWN, \
- EC_STATE_UNKNOWN, NULL, DOMAIN, 0}
+// ec_slave_t ist in EtherCAT_rt.h ...
/*****************************************************************************/
// Slave construction and deletion
void ec_slave_init(ec_slave_t *);
-#if 0
-int EtherCAT_read_value(EtherCAT_slave_t *, unsigned int);
-void EtherCAT_write_value(EtherCAT_slave_t *, unsigned int, int);
-#endif
-
/*****************************************************************************/
#endif
--- a/master/types.c Tue Jan 17 18:28:15 2006 +0000
+++ b/master/types.c Fri Jan 20 13:32:31 2006 +0000
@@ -45,116 +45,60 @@
/*****************************************************************************/
-/* Lese- und Schreibfunktionen */
-
-int read_1014(unsigned char *data, unsigned int channel)
-{
- return (data[0] >> channel) & 0x01;
-}
-
-void write_2004(unsigned char *data, unsigned int channel, int value)
-{
- if (value) {
- data[0] |= (1 << channel);
- }
- else {
- data[0] &= ~(1 << channel);
- }
-}
-
-int read_31xx(unsigned char *data, unsigned int channel)
-{
- return (short int) ((data[channel * 3 + 2] << 8) | data[channel * 3 + 1]);
-}
-
-void write_41xx(unsigned char *data, unsigned int channel, int value)
-{
- data[channel * 3 + 1] = (value & 0xFF00) >> 8;
- data[channel * 3 + 2] = value & 0xFF;
-}
-
-/*****************************************************************************/
-
/* Klemmen-Objekte */
-ec_slave_desc_t Beckhoff_EK1100[] =
+ec_slave_type_t Beckhoff_EK1100[] =
{{
"Beckhoff", "EK1100", "Bus Coupler",
- EC_NOSYNC_SLAVE,
- NULL, NULL, NULL, NULL,
- NULL,
- 0, 0,
- NULL, NULL
+ EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
}};
-ec_slave_desc_t Beckhoff_EL1014[] =
+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, 4,
- read_1014, NULL
+ EC_SIMPLE_SLAVE, sm0_1014, NULL, NULL, NULL, fmmu0_1014, 1
}};
-ec_slave_desc_t Beckhoff_EL2004[] =
+ec_slave_type_t Beckhoff_EL2004[] =
{{
"Beckhoff", "EL2004", "4x Digital Output",
- EC_SIMPLE_SLAVE,
- sm0_2004, NULL, NULL, NULL,
- fmmu0_2004,
- 1, 4,
- NULL, write_2004
+ EC_SIMPLE_SLAVE, sm0_2004, NULL, NULL, NULL, fmmu0_2004, 1
}};
-ec_slave_desc_t Beckhoff_EL3102[] =
+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, 2,
- read_31xx, NULL
+ EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
}};
-ec_slave_desc_t Beckhoff_EL3162[] =
+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, 2,
- read_31xx, NULL
+ EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
}};
-ec_slave_desc_t Beckhoff_EL4102[] =
+ec_slave_type_t Beckhoff_EL4102[] =
{{
"Beckhoff", "EL4102", "2x Analog Output",
- EC_MAILBOX_SLAVE,
- sm0_multi, sm1_multi, sm2_41xx, NULL,
- fmmu0_41xx,
- 4, 2,
- NULL, write_41xx
+ EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
}};
-ec_slave_desc_t Beckhoff_EL4132[] =
+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, 2,
- NULL, write_41xx
+ EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
}};
-ec_slave_desc_t Beckhoff_EL5001[] =
+ec_slave_type_t Beckhoff_EL5001[] =
{{
- "Beckhoff", "EL5001", "SSI-Interface",
- EC_SIMPLE_SLAVE,
- NULL, NULL, NULL, NULL, // Noch nicht eingepflegt...
- NULL,
- 0, 0,
- NULL, NULL
+ "Beckhoff", "EL5001", "SSI-Interface", // Noch nicht eingepflegt...
+ EC_SIMPLE_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
}};
/*****************************************************************************/
@@ -171,6 +115,7 @@
{
{0x00000002, 0x03F63052, Beckhoff_EL1014},
{0x00000002, 0x044C2C52, Beckhoff_EK1100},
+ {0x00000002, 0x04562C52, Beckhoff_EK1110},
{0x00000002, 0x07D43052, Beckhoff_EL2004},
{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
--- a/master/types.h Tue Jan 17 18:28:15 2006 +0000
+++ b/master/types.h Fri Jan 20 13:32:31 2006 +0000
@@ -11,12 +11,14 @@
#ifndef _EC_TYPES_H_
#define _EC_TYPES_H_
+#include "../include/EtherCAT_rt.h"
+
/*****************************************************************************/
/**
- Typ eines EtherCAT-Slaves.
+ Features eines EtherCAT-Slaves.
- Dieser Typ muss für die Konfiguration bekannt sein. Der
+ Diese Angabe muss für die Konfiguration bekannt sein. Der
Master entscheidet danach, ober bspw. Mailboxes konfigurieren,
oder Sync-Manager setzen soll.
*/
@@ -25,7 +27,7 @@
{
EC_SIMPLE_SLAVE, EC_MAILBOX_SLAVE, EC_NOSYNC_SLAVE
}
-ec_slave_type_t;
+ec_slave_features_t;
/*****************************************************************************/
@@ -37,13 +39,13 @@
Slave-internen Sync-Manager und FMMU's.
*/
-typedef struct slave_desc
+struct ec_slave_type
{
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
const char *product_desc; /**< Genauere Beschreibung des Slave-Typs */
- const ec_slave_type_t type; /**< Art des Slave-Typs */
+ ec_slave_features_t features; /**< Features des Slave-Typs */
const unsigned char *sm0; /**< Konfigurationsdaten des
ersten Sync-Managers */
@@ -57,16 +59,8 @@
const unsigned char *fmmu0; /**< Konfigurationsdaten
der ersten FMMU */
- const unsigned int process_data_size; /**< Länge der Prozessdaten in Bytes */
- const unsigned int channel_count; /**< Anzahl der Kanäle */
-
- int (*read) (unsigned char *, unsigned int); /**< Funktion zum Dekodieren
- und Lesen der Kanaldaten */
- void (*write) (unsigned char *, unsigned int, int); /**< Funktion zum
- Kodieren und Schreiben
- der Kanaldaten */
-}
-ec_slave_desc_t;
+ unsigned int process_data_size; /**< Länge der Prozessdaten in Bytes */
+};
/*****************************************************************************/
@@ -79,10 +73,9 @@
typedef struct slave_ident
{
- const unsigned int vendor_id; /**< Hersteller-Code */
- const unsigned int product_code; /**< Herstellerspezifischer Produktcode */
- const ec_slave_desc_t *desc; /**< Zeiger auf den dazugehörigen
- Slave-Typ */
+ unsigned int vendor_id; /**< Hersteller-Code */
+ unsigned int product_code; /**< Herstellerspezifischer Produktcode */
+ const ec_slave_type_t *type; /**< Zeiger auf den entsprechenden Slave-Typ */
}
ec_slave_ident_t;
--- a/mini/mini.c Tue Jan 17 18:28:15 2006 +0000
+++ b/mini/mini.c Fri Jan 20 13:32:31 2006 +0000
@@ -59,7 +59,7 @@
// Prozessdaten lesen und schreiben
rdtscl(k);
- EtherCAT_rt_domain_cycle(master, 1, 100);
+ EtherCAT_rt_exchange_io(master, 1, 100);
firstrun = 0;
timer.expires += HZ / 1000;
--- a/rt/msr_module.c Tue Jan 17 18:28:15 2006 +0000
+++ b/rt/msr_module.c Fri Jan 20 13:32:31 2006 +0000
@@ -55,23 +55,23 @@
static unsigned int ecat_bus_time = 0;
static unsigned int ecat_timeouts = 0;
-#if 0
-static ec_slave_t slaves[] =
-{
- // Block 1
- ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
- ECAT_INIT_SLAVE(Beckhoff_EL3102, 0)
-};
-#endif
-
-#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
-
-#define USE_MSR_LIB
-
-#ifdef USE_MSR_LIB
+ec_slave_t *s_controller;
+ec_slave_t *s_analog_in;
+
double value;
int dig1;
-#endif
+
+/*****************************************************************************/
+
+static int register_slaves(void)
+{
+ s_controller = EtherCAT_rt_register_slave(master, 0,
+ "Beckhoff", "EK1100", 0);
+ s_analog_in = EtherCAT_rt_register_slave(master, 1,
+ "Beckhoff", "EL3102", 0);
+
+ return !s_controller || !s_analog_in;
+}
/******************************************************************************
*
@@ -93,7 +93,7 @@
#endif
// Prozessdaten lesen und schreiben
- EtherCAT_rt_domain_cycle(master, 0, 40);
+ EtherCAT_rt_exchange_io(master, 0, 40);
#if 0
if (debug_counter == 0) {
@@ -126,12 +126,10 @@
{
static int counter = 0;
-#ifdef USE_MSR_LIB
+ // Schreibe Kanal1 von Klemme X auf 1
+
timeval_add(&process_time, &process_time, &msr_time_increment);
MSR_ADEOS_INTERRUPT_CODE(msr_controller_run(); msr_write_kanal_list(););
-#else
- msr_controller_run();
-#endif
ipipe_control_irq(irq,0,IPIPE_ENABLE_MASK); //Interrupt bestŽätigen
if (counter++ > HZREDUCTION) {
@@ -169,10 +167,8 @@
int msr_globals_register(void)
{
-#ifdef USE_MSR_LIB
msr_reg_kanal("/value", "V", &value, TDBL);
msr_reg_kanal("/dig1", "", &dig1, TINT);
-#endif
msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
msr_reg_kanal("/Taskinfo/EtherCAT/Timeouts", "", &ecat_timeouts, TUINT);
@@ -189,29 +185,25 @@
struct ipipe_domain_attr attr; //ipipe
// Als allererstes die RT-lib initialisieren
-#ifdef USE_MSR_LIB
if (msr_rtlib_init(1,MSR_ABTASTFREQUENZ,10,&msr_globals_register) < 0) {
msr_print_warn("msr_modul: can't initialize rtlib!");
goto out_return;
}
-#endif
msr_jitter_init();
printk(KERN_INFO "=== Starting EtherCAT environment... ===\n");
if ((master = EtherCAT_rt_request_master(0)) == NULL) {
- printk(KERN_ERR "EtherCAT master 0 not available!\n");
+ printk(KERN_ERR "Error requesting master 0!\n");
goto out_msr_cleanup;
}
-#if 0
- printk("Checking EtherCAT slaves.\n");
- if (EtherCAT_check_slaves(master, ecat_slaves, ECAT_SLAVES_COUNT) != 0) {
+ printk("Registering EtherCAT slaves.\n");
+ if (register_slaves()) {
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
goto out_release_master;
}
-#endif
printk("Activating all EtherCAT slaves.\n");
@@ -266,9 +258,7 @@
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
}
-#ifdef USE_MSR_LIB
msr_rtlib_cleanup();
-#endif
}
/*****************************************************************************/
@@ -281,3 +271,9 @@
module_exit(cleanup_rt_module);
/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:4 ***
+;;; End: ***
+*/