Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves.
--- a/drivers/ec_domain.c Fri Jan 06 13:20:29 2006 +0000
+++ b/drivers/ec_domain.c Fri Jan 06 16:01:06 2006 +0000
@@ -27,6 +27,7 @@
dom->data = NULL;
dom->data_size = 0;
dom->logical_offset = 0;
+ dom->response_count = 0;
}
/*****************************************************************************/
--- a/drivers/ec_domain.h Fri Jan 06 13:20:29 2006 +0000
+++ b/drivers/ec_domain.h Fri Jan 06 16:01:06 2006 +0000
@@ -32,6 +32,7 @@
unsigned char *data; /**< Zeiger auf Speicher mit Prozessdaten */
unsigned int data_size; /**< Größe des Prozessdatenspeichers */
unsigned int logical_offset; /**< Logische Basisaddresse */
+ unsigned int response_count; /**< Anzahl antwortender Slaves */
}
EtherCAT_domain_t;
--- a/drivers/ec_master.c Fri Jan 06 13:20:29 2006 +0000
+++ b/drivers/ec_master.c Fri Jan 06 16:01:06 2006 +0000
@@ -34,6 +34,8 @@
master->domain_count = 0;
master->debug_level = 0;
master->bus_time = 0;
+ master->frames_lost = 0;
+ master->t_lost_output = 0;
}
/*****************************************************************************/
@@ -289,8 +291,8 @@
master->rx_data_length = (unsigned int) ret;
if (unlikely(master->rx_data_length < 2)) {
- printk(KERN_ERR "EtherCAT: Received frame with incomplete"
- " EtherCAT header!\n");
+ printk(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT"
+ " header!\n");
output_debug_data(master);
return -1;
}
@@ -332,6 +334,10 @@
cmd->working_counter
= ((master->rx_data[length + 2 + 10] & 0xFF)
| ((master->rx_data[length + 2 + 11] & 0xFF) << 8));
+
+ if (unlikely(master->debug_level > 1)) {
+ output_debug_data(master);
+ }
}
else
{
@@ -539,7 +545,8 @@
}
}
- // Calculate domain sizes
+ // Calculate domain sizes and addresses
+
offset = 0;
for (i = 0; i < master->domain_count; i++)
{
@@ -547,7 +554,7 @@
dom->logical_offset = offset;
- // For every slave in the list
+ // Calculate size of the domain
size = 0;
for (j = 0; j < slave_count; j++) {
if (slaves[j].domain == dom->number) {
@@ -563,16 +570,16 @@
if (!(dom->data = (unsigned char *) kmalloc(sizeof(unsigned char)
* size, GFP_KERNEL))) {
- printk(KERN_ERR "EtherCAT: Could not allocate"
- " %i bytes of domain data.\n", size);
+ printk(KERN_ERR "EtherCAT: Could not allocate %i bytes of domain"
+ " data.\n", size);
return -1;
}
dom->data_size = size;
memset(dom->data, 0x00, size);
- printk(KERN_INFO "EtherCAT: Domain %i: %i Bytes of process data.\n",
- dom->number, size);
+ printk(KERN_INFO "EtherCAT: Domain %i: Offset 0x%04X, %i Bytes of"
+ " process data.\n", dom->number, dom->logical_offset, size);
// Set logical addresses and data pointers of domain slaves
size = 0;
@@ -581,6 +588,10 @@
slaves[j].process_data = dom->data + size;
slaves[j].logical_address = dom->logical_offset + size;
size += slaves[j].desc->process_data_size;
+
+ printk(KERN_INFO "EtherCAT: Slave %i: Logical Address 0x%04X, %i"
+ " bytes of process data.\n", j, slaves[j].logical_address,
+ slaves[j].desc->process_data_size);
}
}
@@ -1004,6 +1015,9 @@
EtherCAT_domain_t *dom;
unsigned long start_ticks, end_ticks, timeout_ticks;
+ ecat_output_lost_frames(master); // Evtl. verlorene Frames ausgeben
+
+ // Domäne bestimmen
dom = NULL;
for (i = 0; i < master->domain_count; i++) {
if (master->domains[i].number == domain) {
@@ -1041,7 +1055,9 @@
master->bus_time = (end_ticks - start_ticks) * 1000 / cpu_khz;
if (unlikely(end_ticks - start_ticks >= timeout_ticks)) {
- printk(KERN_ERR "EtherCAT: Timeout while receiving process data!\n");
+ master->dev->state = ECAT_DS_READY;
+ master->frames_lost++;
+ ecat_output_lost_frames(master);
return -1;
}
@@ -1055,6 +1071,12 @@
return -1;
}
+ if (dom->command.working_counter != dom->response_count) {
+ dom->response_count = dom->command.working_counter;
+ printk(KERN_INFO "EtherCAT: Domain %i State change - %i slaves"
+ " responding.\n", dom->number, dom->response_count);
+ }
+
// Daten vom Kommando in den Prozessdatenspeicher kopieren
memcpy(dom->data, dom->command.data, dom->data_size);
@@ -1098,6 +1120,28 @@
/*****************************************************************************/
+/**
+ Gibt von Zeit zu Zeit die Anzahl verlorener Frames aus.
+
+ @param master EtherCAT-Master
+*/
+
+void ecat_output_lost_frames(EtherCAT_master_t *master)
+{
+ unsigned long int t;
+
+ if (master->frames_lost) {
+ rdtscl(t);
+ if ((t - master->t_lost_output) / cpu_khz > 1000) {
+ printk(KERN_ERR "EtherCAT: %u frame(s) LOST!\n", master->frames_lost);
+ master->frames_lost = 0;
+ master->t_lost_output = t;
+ }
+ }
+}
+
+/*****************************************************************************/
+
EXPORT_SYMBOL(EtherCAT_master_init);
EXPORT_SYMBOL(EtherCAT_master_clear);
EXPORT_SYMBOL(EtherCAT_master_open);
--- a/drivers/ec_master.h Fri Jan 06 13:20:29 2006 +0000
+++ b/drivers/ec_master.h Fri Jan 06 16:01:06 2006 +0000
@@ -40,6 +40,9 @@
unsigned int domain_count;
int debug_level; /**< Debug-Level im Master-Code */
unsigned int bus_time; /**< Letzte Bus-Zeit in Mikrosekunden */
+ unsigned int frames_lost; /**< Anzahl verlorene Frames */
+ unsigned long t_lost_output; /*<< Timer-Ticks bei der letzten Ausgabe von
+ verlorenen Frames */
};
/*****************************************************************************/
@@ -73,6 +76,7 @@
// Private functions
void output_debug_data(const EtherCAT_master_t *);
+void ecat_output_lost_frames(EtherCAT_master_t *);
/*****************************************************************************/
--- a/rt/msr_module.c Fri Jan 06 13:20:29 2006 +0000
+++ b/rt/msr_module.c Fri Jan 06 16:01:06 2006 +0000
@@ -135,23 +135,22 @@
static int ms = 0;
static int cnt = 0;
static int firstrun = 1;
+ static unsigned int debug_counter = 0;
static int klemme = 0;
static int kanal = 0;
static int up_down = 0;
int wrap = 0;
- static unsigned int debug_counter = 0;
- unsigned long t1, t2, t3;
- unsigned int bustime1, bustime2;
- static unsigned long lt = 0;
-
- rdtscl(t1);
+ unsigned long t_bus_start, t_bus_end;
// Prozessdaten lesen
msr_jitter_run(MSR_ABTASTFREQUENZ);
- if (firstrun) klemme = next2004(&wrap);
+ if (firstrun) {
+ klemme = next2004(&wrap);
+ firstrun = 0;
+ }
ms++;
ms %= 1000;
@@ -176,21 +175,26 @@
EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
}
+ if (debug_counter == 0) {
+ ecat_master->debug_level = 0;
+ }
+
// Prozessdaten schreiben
- rdtscl(t2);
+ rdtscl(t_bus_start);
if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0)
ecat_timeouts++;
- bustime1 = ecat_master->bus_time;
if (EtherCAT_process_data_cycle(ecat_master, 1, 40) < 0)
ecat_timeouts++;
- bustime2 = ecat_master->bus_time;
-
- rdtscl(t3);
-
- ecat_bus_time = TSC2US(t2, t3);
+
+ rdtscl(t_bus_end);
+ ecat_bus_time = TSC2US(t_bus_start, t_bus_end);
+
+ if (debug_counter == 0) {
+ ecat_master->debug_level = 0;
+ }
// Daten lesen und skalieren
#ifdef USE_MSR_LIB
@@ -198,16 +202,8 @@
dig1 = EtherCAT_read_value(&ecat_slaves[2], 0);
#endif
- if (debug_counter == MSR_ABTASTFREQUENZ) {
- printk(KERN_DEBUG "%lu: %luŽµs + %uŽµs + %uŽµs = %luŽµs\n", TSC2US(lt, t1),
- TSC2US(t1, t2), bustime1, bustime2, TSC2US(t1, t3));
- debug_counter = 0;
- }
-
- lt = t1;
-
- firstrun = 0;
debug_counter++;
+ if (debug_counter >= MSR_ABTASTFREQUENZ * 5) debug_counter = 0;
}
/******************************************************************************