--- a/drivers/ec_master.c Fri Nov 18 09:35:04 2005 +0000
+++ b/drivers/ec_master.c Fri Nov 18 09:51:50 2005 +0000
@@ -34,8 +34,6 @@
int EtherCAT_master_init(EtherCAT_master_t *master,
EtherCAT_device_t *dev)
{
- unsigned int i;
-
if (!dev)
{
EC_DBG(KERN_ERR "EtherCAT: Master init without device!\n");
@@ -44,24 +42,13 @@
master->slaves = NULL;
master->slave_count = 0;
- //master->first_command = NULL;
- //master->process_data_command = NULL;
master->dev = dev;
master->command_index = 0x00;
master->tx_data_length = 0;
master->process_data = NULL;
master->process_data_length = 0;
- //master->cmd_ring_index = 0;
master->debug_level = 0;
-#if 0
- for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++)
- {
- EtherCAT_command_init(&master->cmd_ring[i]);
- master->cmd_reserved[i] = 0;
- }
-#endif
-
return 0;
}
@@ -78,14 +65,6 @@
void EtherCAT_master_clear(EtherCAT_master_t *master)
{
-#if 0
- // Remove all pending commands
- while (master->first_command)
- {
- EtherCAT_remove_command(master, master->first_command);
- }
-#endif
-
// Remove all slaves
EtherCAT_clear_slaves(master);
@@ -101,648 +80,6 @@
/***************************************************************/
/**
- Überprüft die angeschlossenen Slaves.
-
- Vergleicht die an den Bus angeschlossenen Slaves mit
- den im statischen-Slave-Array vorgegebenen Konfigurationen.
- Stimmen Anzahl oder Typen nicht überein, gibt diese
- Methode einen Fehler aus.
-
- @param master Der EtherCAT-Master
- @param slaves Zeiger auf ein statisches Slave-Array
- @param slave_count Anzahl der Slaves im Array
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_check_slaves(EtherCAT_master_t *master,
- EtherCAT_slave_t *slaves,
- unsigned int slave_count)
-{
- EtherCAT_command_t cmd;
- EtherCAT_slave_t *cur;
- unsigned int i, j, found, length, pos;
- unsigned char data[2];
-
- // EtherCAT_clear_slaves() must be called before!
- if (master->slaves || master->slave_count)
- {
- EC_DBG(KERN_ERR "EtherCAT duplicate slave check!");
- return -1;
- }
-
- // No slaves.
- if (slave_count == 0)
- {
- EC_DBG(KERN_ERR "EtherCAT: No slaves in list!");
- return -1;
- }
-
- // Determine number of slaves on bus
-
- EtherCAT_command_broadcast_read(&cmd, 0x0000, 4);
-
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != slave_count)
- {
- EC_DBG(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n",
- cmd.working_counter, slave_count);
- return -1;
- }
- else
- {
- EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count);
- }
-
- // For every slave in the list
- for (i = 0; i < slave_count; i++)
- {
- cur = &slaves[i];
-
- if (!cur->desc)
- {
- EC_DBG(KERN_ERR "EtherCAT: Slave %i has no description.\n", 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;
-
- EtherCAT_command_position_write(&cmd, cur->ring_position, 0x0010, 2, data);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- EC_DBG(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i);
- return -1;
- }
-
- // Read base data
-
- EtherCAT_command_read(&cmd, cur->station_address, 0x0000, 4);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
-
- if (cmd.working_counter != 1)
- {
- EC_DBG(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);
-
- // Read identification from "Slave Information Interface" (SII)
-
- if (EtherCAT_read_slave_information(master, cur->station_address,
- 0x0008, &cur->vendor_id) != 0)
- {
- EC_DBG(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
- return -1;
- }
-
- if (EtherCAT_read_slave_information(master, cur->station_address,
- 0x000A, &cur->product_code) != 0)
- {
- EC_DBG(KERN_ERR "EtherCAT: Could not read SII product code!\n");
- return -1;
- }
-
- if (EtherCAT_read_slave_information(master, cur->station_address,
- 0x000C, &cur->revision_number) != 0)
- {
- EC_DBG(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
- return -1;
- }
-
- if (EtherCAT_read_slave_information(master, cur->station_address,
- 0x000E, &cur->serial_number) != 0)
- {
- EC_DBG(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
- return -1;
- }
-
- // Search for identification in "database"
-
- found = 0;
-
- for (j = 0; j < slave_idents_count; j++)
- {
- if (slave_idents[j].vendor_id == cur->vendor_id
- && slave_idents[j].product_code == cur->product_code)
- {
- found = 1;
-
- if (cur->desc != slave_idents[j].desc)
- {
- EC_DBG(KERN_ERR "EtherCAT: Unexpected slave device \"%s %s\""
- " at position %i. Expected: \"%s %s\"\n",
- slave_idents[j].desc->vendor_name,
- slave_idents[j].desc->product_name, i,
- cur->desc->vendor_name, cur->desc->product_name);
- return -1;
- }
-
- break;
- }
- }
-
- if (!found)
- {
- EC_DBG(KERN_ERR "EtherCAT: Unknown slave device"
- " (vendor %X, code %X) at position %i.\n",
- i, cur->vendor_id, cur->product_code);
- return -1;
- }
- }
-
- length = 0;
- for (i = 0; i < slave_count; i++)
- {
- length += slaves[i].desc->data_length;
- }
-
- if ((master->process_data = (unsigned char *)
- kmalloc(sizeof(unsigned char) * length, GFP_KERNEL)) == NULL)
- {
- EC_DBG(KERN_ERR "EtherCAT: Could not allocate %i bytes for process data.\n", length);
- return -1;
- }
-
- master->process_data_length = length;
- memset(master->process_data, 0x00, length);
-
- pos = 0;
- for (i = 0; i < slave_count; i++)
- {
- slaves[i].process_data = master->process_data + pos;
- slaves[i].logical_address0 = pos;
-
- EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n",
- i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name,
- slaves[i].serial_number);
-
- pos += slaves[i].desc->data_length;
- }
-
- master->slaves = slaves;
- master->slave_count = slave_count;
-
- return 0;
-}
-
-/***************************************************************/
-
-/**
- Entfernt den Zeiger auf das Slave-Array.
-
- @param master EtherCAT-Master
-*/
-
-void EtherCAT_clear_slaves(EtherCAT_master_t *master)
-{
- master->slaves = NULL;
- master->slave_count = 0;
-}
-
-/***************************************************************/
-
-/**
- Liest Daten aus dem Slave-Information-Interface
- eines EtherCAT-Slaves.
-
- @param master EtherCAT-Master
- @param node_address Knotenadresse des Slaves
- @param offset Adresse des zu lesenden SII-Registers
- @param target Zeiger auf einen 4 Byte großen Speicher
- zum Ablegen der Daten
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_read_slave_information(EtherCAT_master_t *master,
- unsigned short int node_address,
- unsigned short int offset,
- unsigned int *target)
-{
- EtherCAT_command_t cmd;
- unsigned char data[10];
- unsigned int tries_left;
-
- // Initiate read operation
-
- data[0] = 0x00;
- data[1] = 0x01;
- data[2] = offset & 0xFF;
- data[3] = (offset & 0xFF00) >> 8;
- data[4] = 0x00;
- data[5] = 0x00;
-
- EtherCAT_command_write(&cmd, node_address, 0x502, 6, data);
- if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -3;
-
- if (cmd.working_counter != 1)
- {
- EC_DBG(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n",
- node_address);
- return -4;
- }
-
- // Der Slave legt die Informationen des Slave-Information-Interface
- // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
- // den Status auslesen, bis das Bit weg ist.
-
- tries_left = 100;
- while (tries_left)
- {
- udelay(10);
-
- EtherCAT_command_read(&cmd, node_address, 0x502, 10);
- if (EtherCAT_simple_send_receive(master, &cmd) != 0) return -3;
-
- if (cmd.working_counter != 1)
- {
- EC_DBG(KERN_ERR "EtherCAT: SII-read status - Slave %04X did not respond!\n",
- node_address);
- return -4;
- }
-
- if ((cmd.data[1] & 0x81) == 0)
- {
- memcpy(target, cmd.data + 6, 4);
- break;
- }
-
- tries_left--;
- }
-
- if (!tries_left)
- {
- EC_DBG(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n",
- node_address);
- return -1;
- }
-
- return 0;
-}
-
-#if 0
-/***************************************************************/
-
-/**
- Führt ein asynchrones Senden und Empfangen aus.
-
- Sendet alle wartenden Kommandos und wartet auf die
- entsprechenden Antworten.
-
- @param master EtherCAT-Master
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_async_send_receive(EtherCAT_master_t *master)
-{
- unsigned int wait_cycles;
- int i;
-
- // Send all commands
-
- for (i = 0; i < ECAT_NUM_RETRIES; i++)
- {
- if (EtherCAT_send(master) < 0)
- {
- return -1;
- }
-
- // Wait until something is received or an error has occurred
-
- wait_cycles = 10;
- EtherCAT_device_call_isr(master->dev);
-
- while (master->dev->state == ECAT_DS_SENT && wait_cycles)
- {
- udelay(1000);
- wait_cycles--;
- EtherCAT_device_call_isr(master->dev);
- }
-
- //EC_DBG("Master async send: tries %d",tries_left);
-
- if (!wait_cycles)
- {
- EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n");
- continue;
- }
-
- if (master->dev->state != ECAT_DS_RECEIVED)
- {
- EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state);
- continue;
- }
-
- // Receive all commands
- if (EtherCAT_receive(master) < 0)
- {
- // Noch mal versuchen
- master->dev->state = ECAT_DS_READY;
- EC_DBG("Retry Asynchronous send/recieve: %d", i);
- continue;
- }
-
- return 0; // Erfolgreich
- }
-
- return -1;
-}
-
-/***************************************************************/
-
-/**
- Sendet alle wartenden Kommandos.
-
- Errechnet erst die benötigte Gesamt-Rahmenlänge, und erstellt
- dann alle Kommando-Bytefolgen im statischen Sendespeicher.
- Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen.
-
- @param master EtherCAT-Master
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_send(EtherCAT_master_t *master)
-{
- unsigned int i, length, framelength, pos;
- EtherCAT_command_t *cmd;
- int cmdcnt = 0;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "EtherCAT_send, first_command = %X\n", (int) master->first_command);
- }
-
- length = 0;
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->state != ECAT_CS_READY) continue;
- length += cmd->data_length + 12;
- cmdcnt++;
- }
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "%i commands to send.\n", cmdcnt);
- }
-
- if (length == 0)
- {
- EC_DBG(KERN_WARNING "EtherCAT: Nothing to send...\n");
- return 0;
- }
-
- framelength = length + 2;
- if (framelength < 46) framelength = 46;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "framelength: %i\n", framelength);
- }
-
- master->tx_data[0] = length & 0xFF;
- master->tx_data[1] = ((length & 0x700) >> 8) | 0x10;
- pos = 2;
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->state != ECAT_CS_READY) continue;
-
- cmd->index = master->command_index;
- master->command_index = (master->command_index + 1) % 0x0100;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "Sending command index %i\n", cmd->index);
- }
-
- cmd->state = ECAT_CS_SENT;
-
- master->tx_data[pos + 0] = cmd->type;
- master->tx_data[pos + 1] = cmd->index;
-
- master->tx_data[pos + 2] = cmd->address.raw[0];
- master->tx_data[pos + 3] = cmd->address.raw[1];
- master->tx_data[pos + 4] = cmd->address.raw[2];
- master->tx_data[pos + 5] = cmd->address.raw[3];
-
- master->tx_data[pos + 6] = cmd->data_length & 0xFF;
- master->tx_data[pos + 7] = (cmd->data_length & 0x700) >> 8;
-
- if (cmd->next) master->tx_data[pos + 7] |= 0x80;
-
- master->tx_data[pos + 8] = 0x00;
- master->tx_data[pos + 9] = 0x00;
-
- if (cmd->type == ECAT_CMD_APWR
- || cmd->type == ECAT_CMD_NPWR
- || cmd->type == ECAT_CMD_BWR
- || cmd->type == ECAT_CMD_LRW) // Write
- {
- for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = cmd->data[i];
- }
- else // Read
- {
- for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = 0x00;
- }
-
- master->tx_data[pos + 10 + cmd->data_length] = 0x00;
- master->tx_data[pos + 11 + cmd->data_length] = 0x00;
-
- pos += 12 + cmd->data_length;
- }
-
- // Pad with zeros
- while (pos < 46) master->tx_data[pos++] = 0x00;
-
- master->tx_data_length = framelength;
-
-#ifdef DEBUG_SEND_RECEIVE
- EC_DBG(KERN_DEBUG "\n");
- EC_DBG(KERN_DEBUG ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n");
- EC_DBG(KERN_DEBUG);
- for (i = 0; i < framelength; i++)
- {
- EC_DBG("%02X ", master->tx_data[i]);
-
- if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
- }
- EC_DBG("\n");
- EC_DBG(KERN_DEBUG "-----------------------------------------------\n");
-#endif
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "device send...\n");
- }
-
- // Send frame
- if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
- {
- EC_DBG(KERN_ERR "EtherCAT: Could not send!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, framelength);
- return -1;
- }
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "EtherCAT_send done.\n");
- }
-
- return 0;
-}
-
-/***************************************************************/
-
-/**
- Holt alle empfangenen Kommandos vom EtherCAT-Gerät.
-
- Kopiert einen empfangenen Rahmen vom EtherCAT-Gerät
- in den Statischen Empfangsspeicher und ordnet dann
- allen gesendeten Kommandos ihre Antworten zu.
-
- @param master EtherCAT-Master
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_receive(EtherCAT_master_t *master)
-{
- EtherCAT_command_t *cmd;
- unsigned int length, pos, found, rx_data_length;
- unsigned int command_follows, command_type, command_index;
-
- // Copy received data into master buffer (with locking)
- rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
- ECAT_FRAME_BUFFER_SIZE);
-
-#ifdef DEBUG_SEND_RECEIVE
- for (i = 0; i < rx_data_length; i++)
- {
- if (master->rx_data[i] == master->tx_data[i]) EC_DBG(" ");
- else EC_DBG("%02X ", master->rx_data[i]);
- if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
- }
- EC_DBG("\n");
- EC_DBG(KERN_DEBUG "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<\n");
- EC_DBG(KERN_DEBUG "\n");
-#endif
-
- if (rx_data_length < 2)
- {
- EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (illegal length)!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
- return -1;
- }
-
- // Länge des gesamten Frames prüfen
- length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
-
- if (length > rx_data_length)
- {
- EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
- return -1;
- }
-
- pos = 2; // LibPCAP: 16
- command_follows = 1;
- while (command_follows)
- {
- if (pos + 10 > rx_data_length)
- {
- EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command header!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
- return -1;
- }
-
- command_type = master->rx_data[pos];
- command_index = master->rx_data[pos + 1];
- length = (master->rx_data[pos + 6] & 0xFF)
- | ((master->rx_data[pos + 7] & 0x07) << 8);
- command_follows = master->rx_data[pos + 7] & 0x80;
-
- if (pos + length + 12 > rx_data_length)
- {
- EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
- return -1;
- }
-
- found = 0;
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->state == ECAT_CS_SENT
- && cmd->type == command_type
- && cmd->index == command_index
- && cmd->data_length == length)
- {
- found = 1;
- cmd->state = ECAT_CS_RECEIVED;
-
- // Empfangene Daten in Kommandodatenspeicher kopieren
- memcpy(cmd->data, master->rx_data + pos + 10, length);
-
- // Working-Counter setzen
- cmd->working_counter = (master->rx_data[pos + length + 10] & 0xFF)
- | ((master->rx_data[pos + length + 11] & 0xFF) << 8);
- }
- }
-
- if (!found)
- {
- EC_DBG(KERN_WARNING "EtherCAT: WARNING - Command not assigned!\n");
- }
-
- pos += length + 12;
- }
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->state == ECAT_CS_SENT)
- {
- EC_DBG(KERN_WARNING "EtherCAT: WARNING - One command received no response!\n");
- }
- }
-
- master->dev->state = ECAT_DS_READY;
-
- return 0;
-}
-#endif
-
-/***************************************************************/
-
-/**
Sendet ein einzelnes Kommando in einem Frame und
wartet auf dessen Empfang.
@@ -959,378 +296,299 @@
/***************************************************************/
-#if 0
-
-#define ECAT_FUNC_HEADER \
- EtherCAT_command_t *cmd; \
- if ((cmd = alloc_cmd(master)) == NULL) \
- { \
- EC_DBG(KERN_ERR "EtherCAT: Out of memory while creating command!\n"); \
- return NULL; \
- } \
- EtherCAT_command_init(cmd)
-
-#define ECAT_FUNC_WRITE_FOOTER \
- cmd->data_length = length; \
- memcpy(cmd->data, data, length); \
- if (add_command(master, cmd) < 0) return NULL; \
- return cmd
-
-#define ECAT_FUNC_READ_FOOTER \
- cmd->data_length = length; \
- if (add_command(master, cmd) < 0) return NULL; \
- return cmd
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-NPRD-Kommando.
-
- Alloziert ein "node-adressed physical read"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param node_address Adresse des Knotens (Slaves)
- @param offset Physikalische Speicheradresse im Slave
- @param length Länge der zu lesenden Daten
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *master,
- unsigned short node_address,
- unsigned short offset,
- unsigned int length)
-{
- if (node_address == 0x0000)
- EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n");
-
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_NPRD;
- cmd->address.phy.dev.node = node_address;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_READ_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-NPWR-Kommando.
-
- Alloziert ein "node-adressed physical write"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param node_address Adresse des Knotens (Slaves)
- @param offset Physikalische Speicheradresse im Slave
- @param length Länge der zu schreibenden Daten
- @param data Zeiger auf Speicher mit zu schreibenden Daten
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *master,
- unsigned short node_address,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- if (node_address == 0x0000)
- EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n");
-
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_NPWR;
- cmd->address.phy.dev.node = node_address;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_WRITE_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-APRD-Kommando.
-
- Alloziert ein "autoincerement physical read"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param ring_position (Negative) Position des Slaves im Bus
- @param offset Physikalische Speicheradresse im Slave
- @param length Länge der zu lesenden Daten
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *master,
- short ring_position,
- unsigned short offset,
- unsigned int length)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_APRD;
- cmd->address.phy.dev.pos = ring_position;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_READ_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-APWR-Kommando.
-
- Alloziert ein "autoincrement physical write"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param ring_position (Negative) Position des Slaves im Bus
- @param offset Physikalische Speicheradresse im Slave
- @param length Länge der zu schreibenden Daten
- @param data Zeiger auf Speicher mit zu schreibenden Daten
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *master,
- short ring_position,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_APWR;
- cmd->address.phy.dev.pos = ring_position;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_WRITE_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-BRD-Kommando.
-
- Alloziert ein "broadcast read"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param offset Physikalische Speicheradresse im Slave
- @param length Länge der zu lesenden Daten
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *master,
- unsigned short offset,
- unsigned int length)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_BRD;
- cmd->address.phy.dev.node = 0x0000;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_READ_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-BWR-Kommando.
-
- Alloziert ein "broadcast write"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param offset Physikalische Speicheradresse im Slave
- @param length Länge der zu schreibenden Daten
- @param data Zeiger auf Speicher mit zu schreibenden Daten
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *master,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_BWR;
- cmd->address.phy.dev.node = 0x0000;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_WRITE_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-LRW-Kommando.
-
- Alloziert ein "logical read write"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param offset Logische Speicheradresse
- @param length Länge der zu lesenden/schreibenden Daten
- @param data Zeiger auf Speicher mit zu lesenden/schreibenden Daten
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *master,
- unsigned int offset,
- unsigned int length,
- unsigned char *data)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_LRW;
- cmd->address.logical = offset;
-
- ECAT_FUNC_WRITE_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Alloziert ein neues Kommando aus dem Kommandoring.
-
- Durchsucht den Kommandoring nach einem freien Kommando,
- reserviert es und gibt dessen Adresse zurück.
-
- @param master EtherCAT-Master
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *master)
-{
- int j;
-
- for (j = 0; j < ECAT_COMMAND_RING_SIZE; j++) // Einmal rum suchen
- {
- // Solange suchen, bis freies Kommando gefunden
- if (master->cmd_reserved[master->cmd_ring_index] == 0)
- {
- master->cmd_reserved[master->cmd_ring_index] = 1; // Belegen
-
- if (master->debug_level)
+/**
+ Überprüft die angeschlossenen Slaves.
+
+ Vergleicht die an den Bus angeschlossenen Slaves mit
+ den im statischen-Slave-Array vorgegebenen Konfigurationen.
+ Stimmen Anzahl oder Typen nicht überein, gibt diese
+ Methode einen Fehler aus.
+
+ @param master Der EtherCAT-Master
+ @param slaves Zeiger auf ein statisches Slave-Array
+ @param slave_count Anzahl der Slaves im Array
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_check_slaves(EtherCAT_master_t *master,
+ EtherCAT_slave_t *slaves,
+ unsigned int slave_count)
+{
+ EtherCAT_command_t cmd;
+ EtherCAT_slave_t *cur;
+ unsigned int i, j, found, length, pos;
+ unsigned char data[2];
+
+ // EtherCAT_clear_slaves() must be called before!
+ if (master->slaves || master->slave_count)
+ {
+ EC_DBG(KERN_ERR "EtherCAT duplicate slave check!");
+ return -1;
+ }
+
+ // No slaves.
+ if (slave_count == 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: No slaves in list!");
+ return -1;
+ }
+
+ // Determine number of slaves on bus
+
+ EtherCAT_command_broadcast_read(&cmd, 0x0000, 4);
+
+ if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
+
+ if (cmd.working_counter != slave_count)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n",
+ cmd.working_counter, slave_count);
+ return -1;
+ }
+ else
+ {
+ EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count);
+ }
+
+ // For every slave in the list
+ for (i = 0; i < slave_count; i++)
+ {
+ cur = &slaves[i];
+
+ if (!cur->desc)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Slave %i has no description.\n", 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;
+
+ EtherCAT_command_position_write(&cmd, cur->ring_position, 0x0010, 2, data);
+ if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
+
+ if (cmd.working_counter != 1)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i);
+ return -1;
+ }
+
+ // Read base data
+
+ EtherCAT_command_read(&cmd, cur->station_address, 0x0000, 4);
+ if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -1;
+
+ if (cmd.working_counter != 1)
+ {
+ EC_DBG(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);
+
+ // Read identification from "Slave Information Interface" (SII)
+
+ if (EtherCAT_read_slave_information(master, cur->station_address,
+ 0x0008, &cur->vendor_id) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII vendor id!\n");
+ return -1;
+ }
+
+ if (EtherCAT_read_slave_information(master, cur->station_address,
+ 0x000A, &cur->product_code) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII product code!\n");
+ return -1;
+ }
+
+ if (EtherCAT_read_slave_information(master, cur->station_address,
+ 0x000C, &cur->revision_number) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII revision number!\n");
+ return -1;
+ }
+
+ if (EtherCAT_read_slave_information(master, cur->station_address,
+ 0x000E, &cur->serial_number) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not read SII serial number!\n");
+ return -1;
+ }
+
+ // Search for identification in "database"
+
+ found = 0;
+
+ for (j = 0; j < slave_idents_count; j++)
+ {
+ if (slave_idents[j].vendor_id == cur->vendor_id
+ && slave_idents[j].product_code == cur->product_code)
{
- EC_DBG(KERN_DEBUG "Allocating command %i (addr %X).\n",
- master->cmd_ring_index,
- (int) &master->cmd_ring[master->cmd_ring_index]);
+ found = 1;
+
+ if (cur->desc != slave_idents[j].desc)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Unexpected slave device \"%s %s\""
+ " at position %i. Expected: \"%s %s\"\n",
+ slave_idents[j].desc->vendor_name,
+ slave_idents[j].desc->product_name, i,
+ cur->desc->vendor_name, cur->desc->product_name);
+ return -1;
+ }
+
+ break;
}
-
- return &master->cmd_ring[master->cmd_ring_index];
- }
-
- if (master->debug_level)
- {
- EC_DBG(KERN_DEBUG "Command %i (addr %X) is reserved...\n",
- master->cmd_ring_index,
- (int) &master->cmd_ring[master->cmd_ring_index]);
- }
-
- master->cmd_ring_index++;
- master->cmd_ring_index %= ECAT_COMMAND_RING_SIZE;
- }
-
- EC_DBG(KERN_WARNING "EtherCAT: Command ring full!\n");
-
- return NULL; // Nix gefunden
-}
-
-/***************************************************************/
-
-/**
- Fügt ein Kommando in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param cmd Zeiger auf das einzufügende Kommando
-*/
-
-int add_command(EtherCAT_master_t *master,
- EtherCAT_command_t *new_cmd)
-{
- EtherCAT_command_t *cmd, **last_cmd;
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd == new_cmd)
- {
- EC_DBG(KERN_WARNING "EtherCAT: Trying to add a command"
- " that is already in the list!\n");
+ }
+
+ if (!found)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Unknown slave device"
+ " (vendor %X, code %X) at position %i.\n",
+ i, cur->vendor_id, cur->product_code);
return -1;
}
}
- // Find the address of the last pointer in the list
- last_cmd = &(master->first_command);
- while (*last_cmd) last_cmd = &(*last_cmd)->next;
-
- // Let this pointer point to the new command
- *last_cmd = new_cmd;
-
- return 0;
-}
-
-/***************************************************************/
-
-/**
- Entfernt ein Kommando aus der Liste und gibt es frei.
-
- Prüft erst, ob das Kommando in der Liste des Masters
- ist. Wenn ja, wird es entfernt und die Reservierung wird
- aufgehoben.
-
- @param master EtherCAT-Master
- @param rem_cmd Zeiger auf das zu entfernende Kommando
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-void EtherCAT_remove_command(EtherCAT_master_t *master,
- EtherCAT_command_t *rem_cmd)
-{
- EtherCAT_command_t **last_cmd;
- int i;
-
- last_cmd = &master->first_command;
- while (*last_cmd)
- {
- if (*last_cmd == rem_cmd)
- {
- *last_cmd = rem_cmd->next;
- EtherCAT_command_clear(rem_cmd);
-
- // Reservierung des Kommandos aufheben
- for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++)
- {
- if (&master->cmd_ring[i] == rem_cmd)
- {
- master->cmd_reserved[i] = 0;
- return;
- }
- }
-
- EC_DBG(KERN_WARNING "EtherCAT: Could not remove command reservation!\n");
- return;
- }
-
- last_cmd = &(*last_cmd)->next;
- }
-
- EC_DBG(KERN_WARNING "EtherCAT: Trying to remove non-existent command!\n");
-}
-#endif
+ length = 0;
+ for (i = 0; i < slave_count; i++)
+ {
+ length += slaves[i].desc->data_length;
+ }
+
+ if ((master->process_data = (unsigned char *)
+ kmalloc(sizeof(unsigned char) * length, GFP_KERNEL)) == NULL)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not allocate %i bytes for process data.\n", length);
+ return -1;
+ }
+
+ master->process_data_length = length;
+ memset(master->process_data, 0x00, length);
+
+ pos = 0;
+ for (i = 0; i < slave_count; i++)
+ {
+ slaves[i].process_data = master->process_data + pos;
+ slaves[i].logical_address0 = pos;
+
+ EC_DBG(KERN_DEBUG "EtherCAT: Slave %i - Address 0x%X, \"%s %s\", s/n %u\n",
+ i, pos, slaves[i].desc->vendor_name, slaves[i].desc->product_name,
+ slaves[i].serial_number);
+
+ pos += slaves[i].desc->data_length;
+ }
+
+ master->slaves = slaves;
+ master->slave_count = slave_count;
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Entfernt den Zeiger auf das Slave-Array.
+
+ @param master EtherCAT-Master
+*/
+
+void EtherCAT_clear_slaves(EtherCAT_master_t *master)
+{
+ master->slaves = NULL;
+ master->slave_count = 0;
+}
+
+/***************************************************************/
+
+/**
+ Liest Daten aus dem Slave-Information-Interface
+ eines EtherCAT-Slaves.
+
+ @param master EtherCAT-Master
+ @param node_address Knotenadresse des Slaves
+ @param offset Adresse des zu lesenden SII-Registers
+ @param target Zeiger auf einen 4 Byte großen Speicher
+ zum Ablegen der Daten
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_read_slave_information(EtherCAT_master_t *master,
+ unsigned short int node_address,
+ unsigned short int offset,
+ unsigned int *target)
+{
+ EtherCAT_command_t cmd;
+ unsigned char data[10];
+ unsigned int tries_left;
+
+ // Initiate read operation
+
+ data[0] = 0x00;
+ data[1] = 0x01;
+ data[2] = offset & 0xFF;
+ data[3] = (offset & 0xFF00) >> 8;
+ data[4] = 0x00;
+ data[5] = 0x00;
+
+ EtherCAT_command_write(&cmd, node_address, 0x502, 6, data);
+ if (EtherCAT_simple_send_receive(master, &cmd) < 0) return -3;
+
+ if (cmd.working_counter != 1)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: SII-read - Slave %04X did not respond!\n",
+ node_address);
+ return -4;
+ }
+
+ // Der Slave legt die Informationen des Slave-Information-Interface
+ // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
+ // den Status auslesen, bis das Bit weg ist.
+
+ tries_left = 100;
+ while (tries_left)
+ {
+ udelay(10);
+
+ EtherCAT_command_read(&cmd, node_address, 0x502, 10);
+ if (EtherCAT_simple_send_receive(master, &cmd) != 0) return -3;
+
+ if (cmd.working_counter != 1)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: SII-read status - Slave %04X did not respond!\n",
+ node_address);
+ return -4;
+ }
+
+ if ((cmd.data[1] & 0x81) == 0)
+ {
+ memcpy(target, cmd.data + 6, 4);
+ break;
+ }
+
+ tries_left--;
+ }
+
+ if (!tries_left)
+ {
+ EC_DBG(KERN_WARNING "EtherCAT: SSI-read. Slave %04X timed out!\n",
+ node_address);
+ return -1;
+ }
+
+ return 0;
+}
/***************************************************************/
--- a/drivers/ec_master.h Fri Nov 18 09:35:04 2005 +0000
+++ b/drivers/ec_master.h Fri Nov 18 09:51:50 2005 +0000
@@ -31,10 +31,6 @@
mit Slave-Informationen */
unsigned int slave_count; /**< Anzahl der Slaves in slaves */
-#if 0
- EtherCAT_command_t *first_command; /**< Zeiger auf das erste
- Kommando in der Liste */
-#endif
EtherCAT_command_t process_data_command; /**< Kommando zum Senden und
Empfangen der Prozessdaten */
@@ -52,12 +48,6 @@
unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
unsigned int process_data_length; /**< Länge der Prozessdaten */
-#if 0
- EtherCAT_command_t cmd_ring[ECAT_COMMAND_RING_SIZE]; /**< Statischer Kommandoring */
- int cmd_reserved[ECAT_COMMAND_RING_SIZE]; /**< Reservierungsflags für die Kommandos */
- unsigned int cmd_ring_index; /**< Index des nächsten Kommandos im Ring */
-#endif
-
int debug_level; /**< Debug-Level im Master-Code */
}
EtherCAT_master_t;
@@ -68,81 +58,30 @@
int EtherCAT_master_init(EtherCAT_master_t *, EtherCAT_device_t *);
void EtherCAT_master_clear(EtherCAT_master_t *);
+// Sending and receiving
+int EtherCAT_simple_send_receive(EtherCAT_master_t *, EtherCAT_command_t *);
+int EtherCAT_simple_send(EtherCAT_master_t *, EtherCAT_command_t *);
+int EtherCAT_simple_receive(EtherCAT_master_t *, EtherCAT_command_t *);
+
// Slave management
int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
void EtherCAT_clear_slaves(EtherCAT_master_t *);
+int EtherCAT_read_slave_information(EtherCAT_master_t *,
+ unsigned short int,
+ unsigned short int,
+ unsigned int *);
int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
int EtherCAT_activate_all_slaves(EtherCAT_master_t *);
int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *);
+int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
-// Sending and receiving
-#if 0
-int EtherCAT_async_send_receive(EtherCAT_master_t *);
-int EtherCAT_send(EtherCAT_master_t *);
-int EtherCAT_receive(EtherCAT_master_t *);
-#endif
-int EtherCAT_simple_send_receive(EtherCAT_master_t *, EtherCAT_command_t *);
-int EtherCAT_simple_send(EtherCAT_master_t *, EtherCAT_command_t *);
-int EtherCAT_simple_receive(EtherCAT_master_t *, EtherCAT_command_t *);
-
+// Process data
int EtherCAT_write_process_data(EtherCAT_master_t *);
int EtherCAT_read_process_data(EtherCAT_master_t *);
void EtherCAT_clear_process_data(EtherCAT_master_t *);
-/***************************************************************/
-
-// Slave information interface
-int EtherCAT_read_slave_information(EtherCAT_master_t *,
- unsigned short int,
- unsigned short int,
- unsigned int *);
-
-// EtherCAT commands
-#if 0
-EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
- unsigned short,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
- unsigned short,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
- short,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
- short,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
- unsigned int,
- unsigned int,
- unsigned char *);
-
-void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
-#endif
-
-// Slave states
-int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
-
-/***************************************************************/
-
// Private functions
-#if 0
-EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *);
-int add_command(EtherCAT_master_t *, EtherCAT_command_t *);
-#endif
void set_byte(unsigned char *, unsigned int, unsigned char);
void set_word(unsigned char *, unsigned int, unsigned int);
void output_debug_data(unsigned char *, unsigned int);