--- a/master/Makefile Mon Apr 03 10:03:34 2006 +0000
+++ b/master/Makefile Mon Apr 03 14:12:45 2006 +0000
@@ -16,7 +16,7 @@
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o slave.o command.o types.o \
- domain.o canopen.o
+ domain.o mailbox.o canopen.o ethernet.o
EXTRA_CFLAGS := -DSVNREV=$(shell svnversion $(src)) -DUSER=$(USER)
--- a/master/canopen.c Mon Apr 03 10:03:34 2006 +0000
+++ b/master/canopen.c Mon Apr 03 14:12:45 2006 +0000
@@ -13,6 +13,7 @@
#include <linux/module.h>
#include "master.h"
+#include "mailbox.h"
/*****************************************************************************/
@@ -51,18 +52,15 @@
size_t rec_size;
uint8_t *data;
- if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 6))) return -1;
+ if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
+
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
| 0x2 << 5)); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
- if (unlikely(ec_master_simple_io(slave->master))) {
- EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
- return -1;
- }
-
- if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
+
+ if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@@ -107,7 +105,8 @@
return -1;
}
- if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 0x0A))) return -1;
+ if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
+
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size specified
| 0x1 << 1 // expedited transfer
@@ -117,12 +116,8 @@
EC_WRITE_U8 (data + 5, sdo_subindex);
memcpy(data + 6, sdo_data, size);
if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
- if (unlikely(ec_master_simple_io(slave->master))) {
- EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
- return -1;
- }
-
- if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
+
+ if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@@ -164,17 +159,14 @@
size_t rec_size, data_size;
uint32_t complete_size;
- if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 6))) return -1;
+ if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
+
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
- if (unlikely(ec_master_simple_io(slave->master))) {
- EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
- return -1;
- }
-
- if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
+
+ if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@@ -232,19 +224,22 @@
ec_sdo_t *sdo;
uint16_t sdo_index;
- if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 8))) return -1;
+ if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
+
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
- if (unlikely(ec_master_simple_io(slave->master))) {
- EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
+
+ if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
+ EC_ERR("Mailbox checking failed on slave %i!\n",
+ slave->ring_position);
return -1;
}
do {
- if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
+ if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
@@ -302,20 +297,14 @@
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
- if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 8))) return -1;
+ if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, sdo->index); // SDO index
- if (unlikely(ec_master_simple_io(slave->master))) {
- EC_ERR("Mailbox sending failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
- return -1;
+
+ if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
@@ -386,8 +375,9 @@
ec_sdo_entry_t *entry;
for (i = 1; i <= subindices; i++) {
- if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 10)))
- return -1;
+ if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
+ return -1;
+
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
EC_WRITE_U8 (data + 3, 0x00);
@@ -395,14 +385,8 @@
EC_WRITE_U16(data + 6, sdo->index); // SDO index
EC_WRITE_U8 (data + 8, i); // SDO subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
- if (unlikely(ec_master_simple_io(slave->master))) {
- EC_ERR("Mailbox sending failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
- return -1;
+
+ if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/ethernet.c Mon Apr 03 14:12:45 2006 +0000
@@ -0,0 +1,97 @@
+/******************************************************************************
+ *
+ * e t h e r n e t . c
+ *
+ * Ethernet-over-EtherCAT (EoE)
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#include "../include/ecrt.h"
+#include "globals.h"
+#include "master.h"
+#include "slave.h"
+#include "mailbox.h"
+#include "ethernet.h"
+
+/*****************************************************************************/
+
+void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
+{
+ eoe->slave = slave;
+ eoe->rx_state = EC_EOE_IDLE;
+}
+
+/*****************************************************************************/
+
+void ec_eoe_clear(ec_eoe_t *eoe)
+{
+}
+
+/*****************************************************************************/
+
+void ec_eoe_run(ec_eoe_t *eoe)
+{
+ uint8_t *data;
+ ec_master_t *master;
+ size_t rec_size;
+
+ master = eoe->slave->master;
+
+ if (eoe->rx_state == EC_EOE_IDLE) {
+ ec_slave_mbox_prepare_check(eoe->slave);
+ ec_master_queue_command(master, &eoe->slave->mbox_command);
+ eoe->rx_state = EC_EOE_CHECKING;
+ return;
+ }
+
+ if (eoe->rx_state == EC_EOE_CHECKING) {
+ if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
+ master->stats.eoe_errors++;
+ eoe->rx_state = EC_EOE_IDLE;
+ return;
+ }
+ if (!ec_slave_mbox_check(eoe->slave)) {
+ eoe->rx_state = EC_EOE_IDLE;
+ return;
+ }
+ ec_slave_mbox_prepare_fetch(eoe->slave);
+ ec_master_queue_command(master, &eoe->slave->mbox_command);
+ eoe->rx_state = EC_EOE_FETCHING;
+ return;
+ }
+
+ if (eoe->rx_state == EC_EOE_FETCHING) {
+ EC_DBG("EOE fetching\n");
+ if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
+ master->stats.eoe_errors++;
+ eoe->rx_state = EC_EOE_IDLE;
+ return;
+ }
+ if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
+ master->stats.eoe_errors++;
+ eoe->rx_state = EC_EOE_IDLE;
+ return;
+ }
+ EC_DBG("EOE received: %i\n", rec_size);
+ eoe->rx_state = EC_EOE_IDLE;
+ return;
+ }
+}
+
+/*****************************************************************************/
+
+void ec_eoe_print(const ec_eoe_t *eoe)
+{
+ EC_INFO(" EoE slave %i\n", eoe->slave->ring_position);
+ EC_INFO(" RX State %i\n", eoe->rx_state);
+}
+
+/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:4 ***
+;;; End: ***
+*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/ethernet.h Mon Apr 03 14:12:45 2006 +0000
@@ -0,0 +1,51 @@
+/******************************************************************************
+ *
+ * e t h e r n e t . h
+ *
+ * Ethernet-over-EtherCAT (EoE)
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#include <linux/list.h>
+
+#include "../include/ecrt.h"
+#include "globals.h"
+#include "slave.h"
+#include "command.h"
+
+/*****************************************************************************/
+
+typedef enum
+{
+ EC_EOE_IDLE,
+ EC_EOE_CHECKING,
+ EC_EOE_FETCHING
+}
+ec_eoe_state_t;
+
+/*****************************************************************************/
+
+typedef struct
+{
+ struct list_head list;
+ ec_slave_t *slave;
+ ec_eoe_state_t rx_state;
+}
+ec_eoe_t;
+
+/*****************************************************************************/
+
+void ec_eoe_init(ec_eoe_t *, ec_slave_t *);
+void ec_eoe_clear(ec_eoe_t *);
+void ec_eoe_run(ec_eoe_t *);
+void ec_eoe_print(const ec_eoe_t *);
+
+/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:4 ***
+;;; End: ***
+*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/mailbox.c Mon Apr 03 14:12:45 2006 +0000
@@ -0,0 +1,377 @@
+/******************************************************************************
+ *
+ * m a i l b o x . c
+ *
+ * Mailbox-Funktionen
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#include <linux/slab.h>
+#include <linux/delay.h>
+
+#include "mailbox.h"
+#include "command.h"
+#include "master.h"
+
+/*****************************************************************************/
+
+/**
+ Bereitet ein Mailbox-Send-Kommando vor.
+ */
+
+uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *slave, /**< Slave */
+ uint8_t type, /**< Mailbox-Protokoll */
+ size_t size /**< Datengröße */
+ )
+{
+ ec_command_t *command = &slave->mbox_command;
+ size_t total_size;
+
+ if (unlikely(!slave->sii_mailbox_protocols)) {
+ EC_ERR("Slave %i does not support mailbox communication!\n",
+ slave->ring_position);
+ return NULL;
+ }
+
+ total_size = size + 6;
+ if (unlikely(total_size > slave->sii_rx_mailbox_size)) {
+ EC_ERR("Data size does not fit in mailbox!\n");
+ return NULL;
+ }
+
+ if (ec_command_npwr(command, slave->station_address,
+ slave->sii_rx_mailbox_offset,
+ slave->sii_rx_mailbox_size))
+ return NULL;
+
+ EC_WRITE_U16(command->data, size); // Mailbox service data length
+ EC_WRITE_U16(command->data + 2, slave->station_address); // Station address
+ EC_WRITE_U8 (command->data + 4, 0x00); // Channel & priority
+ EC_WRITE_U8 (command->data + 5, type); // Underlying protocol type
+
+ return command->data + 6;
+}
+
+/*****************************************************************************/
+
+/**
+ Bereitet ein Kommando zum Abfragen des Mailbox-Zustandes vor.
+ */
+
+int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< Slave */)
+{
+ ec_command_t *command = &slave->mbox_command;
+
+ // FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
+ if (ec_command_nprd(command, slave->station_address, 0x808, 8))
+ return -1;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Liest den Mailbox-Zustand aus einem empfangenen Kommando.
+ */
+
+int ec_slave_mbox_check(const ec_slave_t *slave /**< Slave */)
+{
+ return EC_READ_U8(slave->mbox_command.data + 5) & 8 ? 1 : 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Bereitet ein Kommando zum Laden von Daten von der Mailbox vor.
+ */
+
+int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< Slave */)
+{
+ ec_command_t *command = &slave->mbox_command;
+
+ if (ec_command_nprd(command, slave->station_address,
+ slave->sii_tx_mailbox_offset,
+ slave->sii_tx_mailbox_size)) return -1;
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Verarbeitet empfangene Mailbox-Daten.
+ */
+
+uint8_t *ec_slave_mbox_fetch(ec_slave_t *slave, /**< Slave */
+ uint8_t type, /**< Protokoll */
+ size_t *size /**< Größe der empfangenen
+ Daten */
+ )
+{
+ ec_command_t *command = &slave->mbox_command;
+ size_t data_size;
+
+ if ((EC_READ_U8(command->data + 5) & 0x0F) != type) {
+ EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
+ " slave %i!\n", EC_READ_U8(command->data + 5), type,
+ slave->ring_position);
+ return NULL;
+ }
+
+ if ((data_size = EC_READ_U16(command->data)) >
+ slave->sii_tx_mailbox_size - 6) {
+ EC_ERR("Currupt mailbox response detected!\n");
+ return NULL;
+ }
+
+ *size = data_size;
+ return command->data + 6;
+}
+
+/*****************************************************************************/
+
+/**
+ Sendet und wartet auf den Empfang eines Mailbox-Kommandos.
+ */
+
+uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< Slave */
+ size_t *size /**< Größe der gelesenen
+ Daten */
+ )
+{
+ uint8_t type;
+ ec_command_t *command;
+
+ command = &slave->mbox_command;
+ type = EC_READ_U8(command->data + 5);
+
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
+ EC_ERR("Mailbox checking failed on slave %i!\n",
+ slave->ring_position);
+ return NULL;
+ }
+
+ return ec_slave_mbox_simple_receive(slave, type, size);
+}
+
+/*****************************************************************************/
+
+/**
+ Wartet auf den Empfang eines Mailbox-Kommandos.
+ */
+
+uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< Slave */
+ uint8_t type, /**< Protokoll */
+ size_t *size /**< Größe der gelesenen
+ Daten */
+ )
+{
+ cycles_t start, end, timeout;
+ ec_command_t *command;
+
+ command = &slave->mbox_command;
+ start = get_cycles();
+ timeout = (cycles_t) 100 * cpu_khz; // 100ms
+
+ while (1)
+ {
+ if (ec_slave_mbox_prepare_check(slave)) return NULL;
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
+ EC_ERR("Mailbox checking failed on slave %i!\n",
+ slave->ring_position);
+ return NULL;
+ }
+
+ end = get_cycles();
+
+ if (ec_slave_mbox_check(slave))
+ break; // Proceed with receiving data
+
+ if ((end - start) >= timeout) {
+ EC_ERR("Mailbox check - Slave %i timed out.\n",
+ slave->ring_position);
+ return NULL;
+ }
+
+ udelay(100);
+ }
+
+ if (ec_slave_mbox_prepare_fetch(slave)) return NULL;
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
+ EC_ERR("Mailbox receiving failed on slave %i!\n",
+ slave->ring_position);
+ return NULL;
+ }
+
+ if (unlikely(slave->master->debug_level) > 1)
+ EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
+ / cpu_khz));
+
+ return ec_slave_mbox_fetch(slave, type, size);
+}
+
+/*****************************************************************************/
+
+#if 0
+/**
+ Sendet ein Mailbox-Kommando.
+ */
+
+int ec_slave_mbox_send(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint8_t type, /**< Unterliegendes Protokoll */
+ const uint8_t *prot_data, /**< Protokoll-Daten */
+ size_t size /**< Datengröße */
+ )
+{
+ uint8_t *data;
+ ec_command_t command;
+
+
+ }
+
+ if (!(data = kmalloc(slave->sii_rx_mailbox_size, GFP_KERNEL))) {
+ EC_ERR("Failed to allocate %i bytes of memory for mailbox data!\n",
+ slave->sii_rx_mailbox_size);
+ return -1;
+ }
+
+ memset(data, 0x00, slave->sii_rx_mailbox_size);
+ EC_WRITE_U16(data, size); // Length of the Mailbox service data
+ EC_WRITE_U16(data + 2, slave->station_address); // Station address
+ EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
+ EC_WRITE_U8 (data + 5, type); // Underlying protocol type
+ memcpy(data + 6, prot_data, size);
+
+ ec_command_init_npwr(&command, slave->station_address,
+ slave->sii_rx_mailbox_offset,
+ slave->sii_rx_mailbox_size, data);
+ if (unlikely(ec_master_simple_io(slave->master, &command))) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
+ kfree(data);
+ return -1;
+ }
+
+ kfree(data);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Sendet ein Mailbox-Kommando.
+ */
+
+int ec_slave_mailbox_receive(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint8_t type, /**< Unterliegendes Protokoll */
+ uint8_t *prot_data, /**< Protokoll-Daten */
+ size_t *size /**< Datengröße des Puffers, später
+ Größe der gelesenen Daten */
+ )
+{
+ ec_command_t command;
+ size_t data_size;
+ cycles_t start, end, timeout;
+
+ // Read "written bit" of Sync-Manager
+ start = get_cycles();
+ timeout = (cycles_t) 100 * cpu_khz; // 100ms
+
+ while (1)
+ {
+ // FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
+ ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
+ if (unlikely(ec_master_simple_io(slave->master, &command))) {
+ EC_ERR("Mailbox checking failed on slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ end = get_cycles();
+
+ if (EC_READ_U8(command.data + 5) & 8)
+ break; // Proceed with received data
+
+ if ((end - start) >= timeout) {
+ EC_ERR("Mailbox check - Slave %i timed out.\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ udelay(100);
+ }
+
+ ec_command_init_nprd(&command, slave->station_address,
+ slave->sii_tx_mailbox_offset,
+ slave->sii_tx_mailbox_size);
+ if (unlikely(ec_master_simple_io(slave->master, &command))) {
+ EC_ERR("Mailbox receiving failed on slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ if ((EC_READ_U8(command.data + 5) & 0x0F) != type) {
+ EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
+ " slave %i!\n", EC_READ_U8(command.data + 5), type,
+ slave->ring_position);
+ return -1;
+ }
+
+ if (unlikely(slave->master->debug_level) > 1)
+ EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
+ / cpu_khz));
+
+ if ((data_size = EC_READ_U16(command.data)) > *size) {
+ EC_ERR("Mailbox service data does not fit into buffer (%i > %i).\n",
+ data_size, *size);
+ return -1;
+ }
+
+ if (data_size > slave->sii_tx_mailbox_size - 6) {
+ EC_ERR("Currupt mailbox response detected!\n");
+ return -1;
+ }
+
+ memcpy(prot_data, command.data + 6, data_size);
+ *size = data_size;
+ return 0;
+}
+
+/*****************************************************************************/
+
+uint8_t *ec_slave_init_mbox_send_cmd(ec_slave_t *slave, /**< EtherCAT-Slave */
+ ec_command_t *command, /**< Kommando */
+ uint8_t type, /**< Protokolltyp */
+ size_t size /**< Datengröße */
+ )
+{
+ size_t total_size;
+ uint8_t *data;
+
+ if (unlikely(!slave->sii_mailbox_protocols)) {
+ EC_ERR("Slave %i does not support mailbox communication!\n",
+ slave->ring_position);
+ return NULL;
+ }
+
+ total_size = size + 6;
+ if (unlikely(total_size > slave->sii_rx_mailbox_size)) {
+ EC_ERR("Data size does not fit into mailbox of slave %i!\n",
+ slave->ring_position);
+ return NULL;
+ }
+
+ data = command->data;
+
+ memset(data, 0x00, slave->sii_rx_mailbox_size);
+ EC_WRITE_U16(data, size); // Length of the Mailbox service data
+ EC_WRITE_U16(data + 2, slave->station_address); // Station address
+ EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
+ EC_WRITE_U8 (data + 5, type); // Underlying protocol type
+
+ return data + 6;
+}
+#endif
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/mailbox.h Mon Apr 03 14:12:45 2006 +0000
@@ -0,0 +1,35 @@
+/******************************************************************************
+ *
+ * m a i l b o x . h
+ *
+ * Mailbox-Funktionen.
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+#ifndef _EC_MAILBOX_H_
+#define _EC_MAILBOX_H_
+
+#include "slave.h"
+
+/*****************************************************************************/
+
+uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *, uint8_t, size_t);
+int ec_slave_mbox_prepare_check(ec_slave_t *);
+int ec_slave_mbox_check(const ec_slave_t *);
+int ec_slave_mbox_prepare_fetch(ec_slave_t *);
+uint8_t *ec_slave_mbox_fetch(ec_slave_t *, uint8_t, size_t *);
+
+uint8_t *ec_slave_mbox_simple_io(ec_slave_t *, size_t *);
+uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *, uint8_t, size_t *);
+
+/*****************************************************************************/
+
+#endif
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:4 ***
+;;; End: ***
+*/
--- a/master/master.c Mon Apr 03 10:03:34 2006 +0000
+++ b/master/master.c Mon Apr 03 14:12:45 2006 +0000
@@ -21,6 +21,7 @@
#include "types.h"
#include "device.h"
#include "command.h"
+#include "ethernet.h"
/*****************************************************************************/
@@ -35,6 +36,7 @@
INIT_LIST_HEAD(&master->command_queue);
INIT_LIST_HEAD(&master->domains);
+ INIT_LIST_HEAD(&master->eoe_slaves);
ec_command_init(&master->simple_command);
ec_command_init(&master->watch_command);
@@ -80,6 +82,7 @@
unsigned int i;
ec_command_t *command, *next_c;
ec_domain_t *domain, *next_d;
+ ec_eoe_t *eoe, *next_eoe;
// Alle Slaves entfernen
if (master->slaves) {
@@ -104,6 +107,13 @@
kfree(domain);
}
+ // EOE-Liste leeren
+ list_for_each_entry_safe(eoe, next_eoe, &master->domains, list) {
+ list_del(&eoe->list);
+ ec_eoe_clear(eoe);
+ kfree(eoe);
+ }
+
master->command_index = 0;
master->debug_level = 0;
master->timeout = 100; // us
@@ -372,13 +382,13 @@
\return 0 bei Erfolg, sonst < 0
*/
-int ec_master_simple_io(ec_master_t *master /**< EtherCAT-Master */)
+int ec_master_simple_io(ec_master_t *master, /**< EtherCAT-Master */
+ ec_command_t *command /**< Kommando */
+ )
{
unsigned int response_tries_left;
- ec_command_t *command;
response_tries_left = 10;
- command = &master->simple_command;
while (1)
{
@@ -425,6 +435,7 @@
ec_slave_ident_t *ident;
unsigned int i;
ec_command_t *command;
+ ec_eoe_t *eoe;
if (master->slaves || master->slave_count) {
EC_ERR("Slave scan already done!\n");
@@ -435,7 +446,7 @@
// Determine number of slaves on bus
if (ec_command_brd(command, 0x0000, 4)) return -1;
- if (unlikely(ec_master_simple_io(master))) return -1;
+ if (unlikely(ec_master_simple_io(master, command))) return -1;
master->slave_count = command->working_counter;
EC_INFO("Found %i slaves on bus.\n", master->slave_count);
@@ -465,7 +476,7 @@
if (ec_command_apwr(command, slave->ring_position,
0x0010, sizeof(uint16_t))) return -1;
EC_WRITE_U16(command->data, slave->station_address);
- if (unlikely(ec_master_simple_io(master))) {
+ if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Writing station address failed on slave %i!\n", i);
return -1;
}
@@ -488,6 +499,17 @@
EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at"
" position %i.\n", slave->sii_vendor_id,
slave->sii_product_code, i);
+
+ // Does the slave support EoE?
+ if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
+ if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate memory for EoE-Object.\n");
+ return -1;
+ }
+
+ ec_eoe_init(eoe, slave);
+ list_add_tail(&eoe->list, &master->eoe_slaves);
+ }
}
return 0;
@@ -525,6 +547,10 @@
EC_WARN("%i command(s) UNMATCHED!\n", master->stats.unmatched);
master->stats.unmatched = 0;
}
+ if (master->stats.eoe_errors) {
+ EC_WARN("%i EOE ERROR(S)!\n", master->stats.eoe_errors);
+ master->stats.eoe_errors = 0;
+ }
master->stats.t_last = t_now;
}
}
@@ -615,7 +641,8 @@
if (alias_requested) {
for (i = alias_slave_index + 1; i < master->slave_count; i++) {
slave = master->slaves + i;
- if (!slave->type || slave->type->bus_coupler) break;
+ if (!slave->type ||
+ slave->type->special == EC_TYPE_BUS_COUPLER) break;
if (i - alias_slave_index == second) return slave;
}
EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
@@ -630,7 +657,7 @@
for (i = 0; i < master->slave_count; i++, slave_idx++) {
slave = master->slaves + i;
if (!slave->type) continue;
- if (slave->type->bus_coupler) {
+ if (slave->type->special == EC_TYPE_BUS_COUPLER) {
coupler_idx++;
slave_idx = 0;
}
@@ -845,7 +872,7 @@
EC_FMMU_SIZE * slave->base_fmmu_count))
return -1;
memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
- if (unlikely(ec_master_simple_io(master))) {
+ if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Resetting FMMUs failed on slave %i!\n",
slave->ring_position);
return -1;
@@ -858,7 +885,7 @@
EC_SYNC_SIZE * slave->base_sync_count))
return -1;
memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
- if (unlikely(ec_master_simple_io(master))) {
+ if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Resetting sync managers failed on slave %i!\n",
slave->ring_position);
return -1;
@@ -874,7 +901,7 @@
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
return -1;
ec_sync_config(sync, command->data);
- if (unlikely(ec_master_simple_io(master))) {
+ if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
j, slave->ring_position);
return -1;
@@ -887,7 +914,7 @@
0x800 + eeprom_sync->index * EC_SYNC_SIZE,
EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(eeprom_sync, command->data);
- if (unlikely(ec_master_simple_io(master))) {
+ if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
eeprom_sync->index, slave->ring_position);
return -1;
@@ -903,8 +930,8 @@
if (!type) continue;
// Slaves that are not registered are only brought into PREOP
- // state -> nice blinking and mailbox comm. possible
- if (!slave->registered && !slave->type->bus_coupler) {
+ // state -> nice blinking and mailbox communication possible
+ if (!slave->registered && !slave->type->special) {
EC_WARN("Slave %i was not registered!\n", slave->ring_position);
continue;
}
@@ -917,7 +944,7 @@
0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE))
return -1;
ec_fmmu_config(fmmu, command->data);
- if (unlikely(ec_master_simple_io(master))) {
+ if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting FMMU %i failed on slave %i!\n",
j, slave->ring_position);
return -1;
@@ -1147,6 +1174,9 @@
// Watchdog-Kommando
ec_master_process_watch_command(master);
ec_master_queue_command(master, &master->watch_command);
+
+ // Ethernet-over-EtherCAT
+ ec_master_run_eoe(master);
}
/*****************************************************************************/
@@ -1186,15 +1216,36 @@
)
{
unsigned int i;
+ ec_eoe_t *eoe;
EC_INFO("*** Begin master information ***\n");
- for (i = 0; i < master->slave_count; i++)
- ec_slave_print(&master->slaves[i], verbosity);
+ if (master->slave_count) {
+ EC_INFO("Slave list:\n");
+ for (i = 0; i < master->slave_count; i++)
+ ec_slave_print(&master->slaves[i], verbosity);
+ }
+ if (!list_empty(&master->eoe_slaves)) {
+ EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n");
+ list_for_each_entry(eoe, &master->eoe_slaves, list) {
+ ec_eoe_print(eoe);
+ }
+ }
EC_INFO("*** End master information ***\n");
}
/*****************************************************************************/
+void ec_master_run_eoe(ec_master_t *master /**< EtherCAT-Master */)
+{
+ ec_eoe_t *eoe;
+
+ list_for_each_entry(eoe, &master->eoe_slaves, list) {
+ ec_eoe_run(eoe);
+ }
+}
+
+/*****************************************************************************/
+
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_deactivate);
--- a/master/master.h Mon Apr 03 10:03:34 2006 +0000
+++ b/master/master.h Mon Apr 03 14:12:45 2006 +0000
@@ -29,6 +29,7 @@
unsigned int delayed; /**< Verzögerte Kommandos */
unsigned int corrupted; /**< Verfälschte Rahmen */
unsigned int unmatched; /**< Unpassende Kommandos */
+ unsigned int eoe_errors; /**< Ethernet-over-EtherCAT Fehler */
cycles_t t_last; /**< Timestamp-Counter bei der letzten Ausgabe */
}
ec_stats_t;
@@ -57,6 +58,7 @@
int debug_level; /**< Debug-Level im Master-Code */
ec_stats_t stats; /**< Rahmen-Statistiken */
unsigned int timeout; /**< Timeout für synchronen Datenaustausch */
+ struct list_head eoe_slaves; /**< Ethernet over EtherCAT Slaves */
};
/*****************************************************************************/
@@ -69,7 +71,7 @@
// IO
void ec_master_receive(ec_master_t *, const uint8_t *, size_t);
void ec_master_queue_command(ec_master_t *, ec_command_t *);
-int ec_master_simple_io(ec_master_t *);
+int ec_master_simple_io(ec_master_t *, ec_command_t *);
// Registration of devices
int ec_master_open(ec_master_t *);
@@ -82,6 +84,8 @@
void ec_master_debug(const ec_master_t *);
void ec_master_output_stats(ec_master_t *);
+void ec_master_run_eoe(ec_master_t *);
+
/*****************************************************************************/
#endif
--- a/master/slave.c Mon Apr 03 10:03:34 2006 +0000
+++ b/master/slave.c Mon Apr 03 14:12:45 2006 +0000
@@ -43,11 +43,6 @@
slave->base_build = 0;
slave->base_fmmu_count = 0;
slave->base_sync_count = 0;
- for (i = 0; i < 2; i++) {
- slave->dl_status_link[i] = 0;
- slave->dl_status_loop[i] = 0;
- slave->dl_status_comm[i] = 0;
- }
slave->ring_position = 0;
slave->station_address = 0;
slave->sii_alias = 0;
@@ -66,10 +61,19 @@
slave->eeprom_name = NULL;
slave->eeprom_group = NULL;
slave->eeprom_desc = NULL;
+
+ ec_command_init(&slave->mbox_command);
+
INIT_LIST_HEAD(&slave->eeprom_strings);
INIT_LIST_HEAD(&slave->eeprom_syncs);
INIT_LIST_HEAD(&slave->eeprom_pdos);
INIT_LIST_HEAD(&slave->sdo_dictionary);
+
+ for (i = 0; i < 2; i++) {
+ slave->dl_status_link[i] = 0;
+ slave->dl_status_loop[i] = 0;
+ slave->dl_status_comm[i] = 0;
+ }
}
/*****************************************************************************/
@@ -129,6 +133,8 @@
}
kfree(sdo);
}
+
+ ec_command_clear(&slave->mbox_command);
}
/*****************************************************************************/
@@ -149,7 +155,7 @@
// Read base data
if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Reading base data from slave %i failed!\n",
slave->ring_position);
return -1;
@@ -166,7 +172,7 @@
// Read DL status
if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Reading DL status from slave %i failed!\n",
slave->ring_position);
return -1;
@@ -236,7 +242,7 @@
EC_WRITE_U8 (command->data, 0x00); // read-only access
EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
EC_WRITE_U32(command->data + 2, offset);
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -254,7 +260,7 @@
if (ec_command_nprd(command, slave->station_address, 0x502, 10))
return -1;
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-read status failed on slave %i!\n",
slave->ring_position);
return -1;
@@ -301,7 +307,7 @@
EC_WRITE_U8 (command->data, 0x00); // read-only access
EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
EC_WRITE_U32(command->data + 2, offset);
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -319,7 +325,7 @@
if (ec_command_nprd(command, slave->station_address, 0x502, 10))
return -1;
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-read status failed on slave %i!\n",
slave->ring_position);
return -1;
@@ -370,7 +376,7 @@
EC_WRITE_U8 (command->data + 1, 0x02); // request write operation
EC_WRITE_U32(command->data + 2, offset);
EC_WRITE_U16(command->data + 6, value);
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -388,7 +394,7 @@
if (ec_command_nprd(command, slave->station_address, 0x502, 2))
return -1;
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-write status failed on slave %i!\n",
slave->ring_position);
return -1;
@@ -726,7 +732,7 @@
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return;
EC_WRITE_U16(command->data, state | EC_ACK);
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("State %02X acknowledge failed on slave %i!\n",
state, slave->ring_position);
return;
@@ -741,7 +747,7 @@
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return;
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("State %02X acknowledge checking failed on slave %i!\n",
state, slave->ring_position);
return;
@@ -791,7 +797,7 @@
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return -1;
EC_WRITE_U16(command->data, state);
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Failed to set state %02X on slave %i!\n",
state, slave->ring_position);
return -1;
@@ -806,7 +812,7 @@
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return -1;
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Failed to check state %02X on slave %i!\n",
state, slave->ring_position);
return -1;
@@ -1049,7 +1055,7 @@
command = &slave->master->simple_command;
if (ec_command_nprd(command, slave->station_address, 0x0300, 4)) return -1;
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Reading CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
@@ -1082,7 +1088,7 @@
// Reset CRC counters
if (ec_command_npwr(command, slave->station_address, 0x0300, 4)) return -1;
EC_WRITE_U32(command->data, 0x00000000);
- if (unlikely(ec_master_simple_io(slave->master))) {
+ if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
@@ -1094,122 +1100,6 @@
/*****************************************************************************/
/**
- Bereitet ein Mailbox-Send-Kommando vor.
- */
-
-uint8_t *ec_slave_prepare_mailbox_send(ec_slave_t *slave, /**< Slave */
- uint8_t type, /**< Mailbox-Protokoll */
- size_t size /**< Datengröße */
- )
-{
- size_t total_size;
- ec_command_t *command;
-
- if (unlikely(!slave->sii_mailbox_protocols)) {
- EC_ERR("Slave %i does not support mailbox communication!\n",
- slave->ring_position);
- return NULL;
- }
-
- total_size = size + 6;
- if (unlikely(total_size > slave->sii_rx_mailbox_size)) {
- EC_ERR("Data size does not fit in mailbox!\n");
- return NULL;
- }
-
- command = &slave->master->simple_command;
-
- if (ec_command_npwr(command, slave->station_address,
- slave->sii_rx_mailbox_offset,
- slave->sii_rx_mailbox_size)) return NULL;
- EC_WRITE_U16(command->data, size); // Mailbox service data length
- EC_WRITE_U16(command->data + 2, slave->station_address); // Station address
- EC_WRITE_U8 (command->data + 4, 0x00); // Channel & priority
- EC_WRITE_U8 (command->data + 5, type); // Underlying protocol type
-
- return command->data + 6;
-}
-
-/*****************************************************************************/
-
-/**
- Empfängt ein Mailbox-Kommando.
- */
-
-uint8_t *ec_slave_mailbox_receive(ec_slave_t *slave, /**< Slave */
- uint8_t type, /**< Protokoll */
- size_t *size /**< Größe der gelesenen
- Daten */
- )
-{
- ec_command_t *command;
- size_t data_size;
- cycles_t start, end, timeout;
-
- command = &slave->master->simple_command;
-
- // Read "written bit" of Sync-Manager
- start = get_cycles();
- timeout = (cycles_t) 100 * cpu_khz; // 100ms
-
- while (1)
- {
- // FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
- if (ec_command_nprd(command, slave->station_address, 0x808, 8))
- return NULL;
- if (unlikely(ec_master_simple_io(slave->master))) {
- EC_ERR("Mailbox checking failed on slave %i!\n",
- slave->ring_position);
- return NULL;
- }
-
- end = get_cycles();
-
- if (EC_READ_U8(command->data + 5) & 8)
- break; // Proceed with received data
-
- if ((end - start) >= timeout) {
- EC_ERR("Mailbox check - Slave %i timed out.\n",
- slave->ring_position);
- return NULL;
- }
-
- udelay(100);
- }
-
- if (ec_command_nprd(command, slave->station_address,
- slave->sii_tx_mailbox_offset,
- slave->sii_tx_mailbox_size)) return NULL;
- if (unlikely(ec_master_simple_io(slave->master))) {
- EC_ERR("Mailbox receiving failed on slave %i!\n",
- slave->ring_position);
- return NULL;
- }
-
- if ((EC_READ_U8(command->data + 5) & 0x0F) != type) {
- EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
- " slave %i!\n", EC_READ_U8(command->data + 5), type,
- slave->ring_position);
- return NULL;
- }
-
- if (unlikely(slave->master->debug_level) > 1)
- EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
- / cpu_khz));
-
- if ((data_size = EC_READ_U16(command->data)) >
- slave->sii_tx_mailbox_size - 6) {
- EC_ERR("Currupt mailbox response detected!\n");
- return NULL;
- }
-
- *size = data_size;
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
Schreibt den "Configured station alias".
\return 0, wenn alles ok, sonst < 0
*/
--- a/master/slave.h Mon Apr 03 10:03:34 2006 +0000
+++ b/master/slave.h Mon Apr 03 14:12:45 2006 +0000
@@ -11,6 +11,10 @@
#ifndef _EC_SLAVE_H_
#define _EC_SLAVE_H_
+#include <linux/list.h>
+
+#include "globals.h"
+#include "command.h"
#include "types.h"
/*****************************************************************************/
@@ -44,11 +48,11 @@
enum
{
- EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */
- EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */
- EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */
- EC_MBOX_FOE = 0x08, /**< File Service over EtherCAT */
- EC_MBOX_SOE = 0x10, /**< Servo Profile over EtherCAT */
+ EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
+ EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
+ EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
+ EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
+ EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
EC_MBOX_VOE = 0x20 /**< Vendor specific */
};
@@ -231,6 +235,8 @@
char *eeprom_desc; /**< Slave-Beschreibung laut Hersteller */
struct list_head sdo_dictionary; /**< SDO-Verzeichnis des Slaves */
+
+ ec_command_t mbox_command; /**< Kommando für Mailbox-Kommunikation */
};
/*****************************************************************************/
@@ -247,10 +253,6 @@
int ec_slave_state_change(ec_slave_t *, uint8_t);
int ec_slave_set_fmmu(ec_slave_t *, const ec_domain_t *, const ec_sync_t *);
-// Mailbox
-uint8_t *ec_slave_prepare_mailbox_send(ec_slave_t *, uint8_t, size_t);
-uint8_t *ec_slave_mailbox_receive(ec_slave_t *, uint8_t, size_t *);
-
// CANopen over EtherCAT
int ec_slave_fetch_sdo_list(ec_slave_t *);
--- a/master/types.c Mon Apr 03 10:03:34 2006 +0000
+++ b/master/types.c Mon Apr 03 14:12:45 2006 +0000
@@ -25,14 +25,14 @@
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1100 = {
- "Beckhoff", "EK1100", "Bus Coupler", 1,
+ "Beckhoff", "EK1100", "Bus Coupler", EC_TYPE_BUS_COUPLER,
{NULL} // Keine Sync-Manager
};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1110 = {
- "Beckhoff", "EK1110", "Extension terminal", 0,
+ "Beckhoff", "EK1110", "Extension terminal", EC_TYPE_NORMAL,
{NULL} // Keine Sync-Manager
};
@@ -46,7 +46,7 @@
};
const ec_slave_type_t Beckhoff_EL1014 = {
- "Beckhoff", "EL1014", "4x Digital Input", 0,
+ "Beckhoff", "EL1014", "4x Digital Input", EC_TYPE_NORMAL,
{&el1014_sm0, NULL}
};
@@ -60,12 +60,12 @@
};
const ec_slave_type_t Beckhoff_EL2004 = {
- "Beckhoff", "EL2004", "4x Digital Output", 0,
+ "Beckhoff", "EL2004", "4x Digital Output", EC_TYPE_NORMAL,
{&el20XX_sm0, NULL}
};
const ec_slave_type_t Beckhoff_EL2032 = {
- "Beckhoff", "EL2032", "2x Digital Output (2A)", 0,
+ "Beckhoff", "EL2032", "2x Digital Output (2A)", EC_TYPE_NORMAL,
{&el20XX_sm0, NULL}
};
@@ -87,12 +87,12 @@
};
const ec_slave_type_t Beckhoff_EL3102 = {
- "Beckhoff", "EL3102", "2x Analog Input diff.", 0,
+ "Beckhoff", "EL3102", "2x Analog Input diff.", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
const ec_slave_type_t Beckhoff_EL3162 = {
- "Beckhoff", "EL3162", "2x Analog Input", 0,
+ "Beckhoff", "EL3162", "2x Analog Input", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
@@ -106,12 +106,12 @@
};
const ec_slave_type_t Beckhoff_EL4102 = {
- "Beckhoff", "EL4102", "2x Analog Output", 0,
+ "Beckhoff", "EL4102", "2x Analog Output", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
const ec_slave_type_t Beckhoff_EL4132 = {
- "Beckhoff", "EL4132", "2x Analog Output diff.", 0,
+ "Beckhoff", "EL4132", "2x Analog Output diff.", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
@@ -131,7 +131,7 @@
};
const ec_slave_type_t Beckhoff_EL5001 = {
- "Beckhoff", "EL5001", "SSI-Interface", 0,
+ "Beckhoff", "EL5001", "SSI-Interface", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL}
};
@@ -155,12 +155,23 @@
const ec_slave_type_t Beckhoff_EL5101 =
{
- "Beckhoff", "EL5101", "Incremental Encoder Interface", 0,
+ "Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL}
};
/*****************************************************************************/
+const ec_sync_t el6601_sm0 = {0x1800, 522, 0x26, {NULL}};
+const ec_sync_t el6601_sm1 = {0x1C00, 522, 0x22, {NULL}};
+
+const ec_slave_type_t Beckhoff_EL6601 =
+{
+ "Beckhoff", "EL6601", "1-Port Ethernet Switch Terminal", EC_TYPE_EOE,
+ {&el6601_sm0, &el6601_sm1, NULL, NULL, NULL}
+};
+
+/*****************************************************************************/
+
/**
Beziehung zwischen Identifikationsnummern und Klemmen-Objekt.
@@ -182,6 +193,7 @@
{0x00000002, 0x10243052, &Beckhoff_EL4132},
{0x00000002, 0x13893052, &Beckhoff_EL5001},
{0x00000002, 0x13ED3052, &Beckhoff_EL5101},
+ {0x00000002, 0x19C93052, &Beckhoff_EL6601},
{}
};
--- a/master/types.h Mon Apr 03 10:03:34 2006 +0000
+++ b/master/types.h Mon Apr 03 14:12:45 2006 +0000
@@ -23,6 +23,20 @@
/*****************************************************************************/
/**
+ Besondere Slaves.
+*/
+
+typedef enum
+{
+ EC_TYPE_NORMAL,
+ EC_TYPE_BUS_COUPLER,
+ EC_TYPE_EOE
+}
+ec_special_type_t;
+
+/*****************************************************************************/
+
+/**
Prozessdatenfeld.
*/
@@ -63,9 +77,7 @@
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
const char *description; /**< Genauere Beschreibung des Slave-Typs */
- uint8_t bus_coupler; /**< Dieser Typ ist ein Buskoppler. Diese dienen als
- Anker für die Adressierung und müssen nicht
- registriert werden. */
+ ec_special_type_t special; /**< Spezieller Slave-Typ */
const ec_sync_t *sync_managers[EC_MAX_SYNC]; /**< Sync-Manager
Konfigurationen */
}