--- a/drivers/ec_command.c Fri Oct 21 11:44:10 2005 +0000
+++ b/drivers/ec_command.c Fri Oct 28 15:12:27 2005 +0000
@@ -29,13 +29,10 @@
cmd->type = ECAT_CMD_NONE;
cmd->address.logical = 0x00000000;
cmd->data_length = 0;
-
cmd->next = NULL;
-
cmd->state = ECAT_CS_READY;
cmd->index = 0;
cmd->working_counter = 0;
- cmd->reserved = 0; //Hm
}
/***************************************************************/
@@ -43,16 +40,14 @@
/**
Kommando-Destruktor.
- Setzt nur den Status auf ECAT_CS_READY und das
- reserved-Flag auf 0.
+ Setzt alle Attribute auf den Anfangswert zurueck.
@param cmd Zeiger auf das zu initialisierende Kommando.
*/
void EtherCAT_command_clear(EtherCAT_command_t *cmd)
{
- cmd->state = ECAT_CS_READY;
- cmd->reserved = 0;
+ EtherCAT_command_init(cmd);
}
/***************************************************************/
--- a/drivers/ec_command.h Fri Oct 21 11:44:10 2005 +0000
+++ b/drivers/ec_command.h Fri Oct 28 15:12:27 2005 +0000
@@ -78,8 +78,6 @@
unsigned int working_counter; /**< Working-Counter bei Empfang (wird vom Master gesetzt) */
unsigned char data[ECAT_FRAME_BUFFER_SIZE]; /**< Kommandodaten */
-
- unsigned char reserved; /**< Markiert, das das Kommando gerade benutzt wird */
}
EtherCAT_command_t;
--- a/drivers/ec_dbg.h Fri Oct 21 11:44:10 2005 +0000
+++ b/drivers/ec_dbg.h Fri Oct 28 15:12:27 2005 +0000
@@ -15,6 +15,7 @@
#define EC_DBG(fmt, args...) SDBG_print("%s: " fmt, __FUNCTION__ , ## args)
//#define EC_DBG(fmt, args...) printk(KERN_INFO fmt, ## args)
+
#else
#define EC_DBG(fmt, args...)
#endif
--- a/drivers/ec_device.c Fri Oct 21 11:44:10 2005 +0000
+++ b/drivers/ec_device.c Fri Oct 28 15:12:27 2005 +0000
@@ -13,6 +13,7 @@
#include <linux/if_ether.h>
#include <linux/netdevice.h>
#include <rtai.h>
+#include <linux/delay.h>
#include "ec_device.h"
#include "ec_dbg.h"
@@ -237,7 +238,7 @@
// Start sending of frame
ecd->state = ECAT_DS_SENT;
ecd->dev->hard_start_xmit(ecd->tx_skb, ecd->dev);
-
+
return 0;
}
@@ -263,21 +264,16 @@
unsigned int size)
{
int cnt;
-// unsigned long flags;
-
+
if (ecd->state != ECAT_DS_RECEIVED)
{
EC_DBG(KERN_ERR "EtherCAT: receive - Nothing received!\n");
return -1;
}
-
-// flags = rt_spin_lock_irqsave(ecd->lock);
cnt = min(ecd->rx_data_length, size);
memcpy(data,ecd->rx_data, cnt);
-// rt_spin_unlock_irqrestore(ecd->lock, flags);
-
return cnt;
}
--- a/drivers/ec_master.c Fri Oct 21 11:44:10 2005 +0000
+++ b/drivers/ec_master.c Fri Oct 28 15:12:27 2005 +0000
@@ -55,10 +55,12 @@
master->process_data = NULL;
master->process_data_length = 0;
master->cmd_ring_index = 0;
+ master->debug_level = 0;
for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++)
{
EtherCAT_command_init(&master->cmd_ring[i]);
+ master->cmd_reserved[i] = 0;
}
return 0;
@@ -77,8 +79,6 @@
void EtherCAT_master_clear(EtherCAT_master_t *master)
{
- EC_DBG("Master clear");
-
// Remove all pending commands
while (master->first_command)
{
@@ -95,8 +95,6 @@
}
master->process_data_length = 0;
-
- EC_DBG("done...\n");
}
/***************************************************************/
@@ -464,12 +462,13 @@
// Send all commands
- //EC_DBG("Master async send");
-
for (i = 0; i < ECAT_NUM_RETRIES; i++)
{
ASYNC = 1;
- if (EtherCAT_send(master) < 0) return -1;
+ if (EtherCAT_send(master) < 0)
+ {
+ return -1;
+ }
ASYNC = 0;
// Wait until something is received or an error has occurred
@@ -529,6 +528,11 @@
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)
{
@@ -537,6 +541,11 @@
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");
@@ -546,11 +555,10 @@
framelength = length + 2;
if (framelength < 46) framelength = 46;
- if (ASYNC && framelength > 46)
- EC_DBG(KERN_WARNING "Framelength: %d", framelength);
-
- if (ASYNC && cmdcnt > 1)
- EC_DBG(KERN_WARNING "CMDcount: %d", cmdcnt);
+ 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;
@@ -563,6 +571,11 @@
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;
@@ -617,6 +630,11 @@
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)
@@ -633,6 +651,11 @@
return -1;
}
+ if (master->debug_level > 0)
+ {
+ EC_DBG(KERN_DEBUG "EtherCAT_send done.\n");
+ }
+
return 0;
}
@@ -830,12 +853,12 @@
#define ECAT_FUNC_WRITE_FOOTER \
cmd->data_length = length; \
memcpy(cmd->data, data, length); \
- add_command(master, cmd); \
+ if (add_command(master, cmd) < 0) return NULL; \
return cmd
#define ECAT_FUNC_READ_FOOTER \
cmd->data_length = length; \
- add_command(master, cmd); \
+ if (add_command(master, cmd) < 0) return NULL; \
return cmd
/***************************************************************/
@@ -1075,12 +1098,27 @@
for (j = 0; j < ECAT_COMMAND_RING_SIZE; j++) // Einmal rum suchen
{
// Solange suchen, bis freies Kommando gefunden
- if (master->cmd_ring[master->cmd_ring_index].reserved == 0)
- {
- master->cmd_ring[master->cmd_ring_index].reserved = 1; // Belegen
+ if (master->cmd_reserved[master->cmd_ring_index] == 0)
+ {
+ master->cmd_reserved[master->cmd_ring_index] = 1; // Belegen
+
+ if (master->debug_level)
+ {
+ EC_DBG(KERN_DEBUG "Allocating command %i (addr %X).\n",
+ master->cmd_ring_index,
+ (int) &master->cmd_ring[master->cmd_ring_index]);
+ }
+
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;
}
@@ -1099,17 +1137,29 @@
@param cmd Zeiger auf das einzufügende Kommando
*/
-void add_command(EtherCAT_master_t *master,
- EtherCAT_command_t *cmd)
-{
- EtherCAT_command_t **last_cmd;
+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");
+ 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 = cmd;
+ *last_cmd = new_cmd;
+
+ return 0;
}
/***************************************************************/
@@ -1131,6 +1181,7 @@
EtherCAT_command_t *rem_cmd)
{
EtherCAT_command_t **last_cmd;
+ int i;
last_cmd = &master->first_command;
while (*last_cmd)
@@ -1138,9 +1189,19 @@
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;
}
@@ -1595,14 +1656,10 @@
for (i = 0; i < master->slave_count; i++)
{
- EC_DBG("Activate Slave: %d\n",i);
-
if (EtherCAT_activate_slave(master, &master->slaves[i]) < 0)
{
return -1;
}
-
- EC_DBG("done...\n");
}
return 0;
@@ -1627,14 +1684,10 @@
for (i = 0; i < master->slave_count; i++)
{
- EC_DBG("Deactivate Slave: %d\n",i);
-
if (EtherCAT_deactivate_slave(master, &master->slaves[i]) < 0)
{
ret = -1;
}
-
- EC_DBG("done...\n");
}
return ret;
@@ -1663,8 +1716,8 @@
}
if ((master->process_data_command
- = EtherCAT_logical_read_write(master, 0,
- master->process_data_length,
+ = EtherCAT_logical_read_write(master,
+ 0, master->process_data_length,
master->process_data)) == NULL)
{
EC_DBG(KERN_ERR "EtherCAT: Could not allocate process data command!\n");
@@ -1732,6 +1785,27 @@
/***************************************************************/
/**
+ Verwirft ein zuvor gesendetes Prozessdatenkommando.
+
+ Diese Funktion sollte nach Ende des zyklischen Betriebes
+ aufgerufen werden, um das noch wartende Prozessdaten-Kommando
+ zu entfernen.
+
+ @param master EtherCAT-Master
+*/
+
+void EtherCAT_clear_process_data(EtherCAT_master_t *master)
+{
+ if (!master->process_data_command) return;
+
+ EtherCAT_remove_command(master, master->process_data_command);
+ EtherCAT_command_clear(master->process_data_command);
+ master->process_data_command = NULL;
+}
+
+/***************************************************************/
+
+/**
Setzt einen Byte-Wert im Speicher.
@param data Startadresse
--- a/drivers/ec_master.h Fri Oct 21 11:44:10 2005 +0000
+++ b/drivers/ec_master.h Fri Oct 28 15:12:27 2005 +0000
@@ -51,8 +51,11 @@
unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
unsigned int process_data_length; /**< Länge der Prozessdaten */
- EtherCAT_command_t cmd_ring[ECAT_COMMAND_RING_SIZE]; /** Statischer Kommandoring */
+ 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 */
+
+ int debug_level; /**< Debug-Level im Master-Code */
}
EtherCAT_master_t;
@@ -76,6 +79,7 @@
int EtherCAT_receive(EtherCAT_master_t *);
int EtherCAT_write_process_data(EtherCAT_master_t *);
int EtherCAT_read_process_data(EtherCAT_master_t *);
+void EtherCAT_clear_process_data(EtherCAT_master_t *);
/***************************************************************/
@@ -125,7 +129,7 @@
// Private functions
EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *);
-void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
+int add_command(EtherCAT_master_t *, EtherCAT_command_t *);
void set_byte(unsigned char *, unsigned int, unsigned char);
void set_word(unsigned char *, unsigned int, unsigned int);
--- a/drivers/ec_slave.c Fri Oct 21 11:44:10 2005 +0000
+++ b/drivers/ec_slave.c Fri Oct 28 15:12:27 2005 +0000
@@ -83,26 +83,28 @@
{
if (!slave->desc)
{
- EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
- "Slave %04X (at %0X) has no description.\n",
+ EC_DBG(KERN_WARNING "EtherCAT: Reading failed on slave %04X (addr %0X)"
+ " - Slave has no description.\n",
slave->station_address, (unsigned int) slave);
return 0;
}
if (!slave->desc->read)
{
- EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
- "Slave type (%s %s) has no read method.\n",
+ EC_DBG(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);
return 0;
}
if (channel >= slave->desc->channels)
{
- EC_DBG(KERN_WARNING "EtherCAT: Reading failed - "
- "Slave %4X (%s %s) has no channel %i.\n",
- slave->station_address, slave->desc->vendor_name,
- slave->desc->product_name, channel);
+ EC_DBG(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);
return 0;
}
@@ -131,26 +133,28 @@
{
if (!slave->desc)
{
- EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
- "Slave %04X (at %0X) has no description.\n",
+ EC_DBG(KERN_WARNING "EtherCAT: Writing failed on slave %04X (addr %0X)"
+ " - Slave has no description.\n",
slave->station_address, (unsigned int) slave);
return;
}
if (!slave->desc->write)
{
- EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
- "Slave type (%s %s) has no write method.\n",
+ EC_DBG(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);
return;
}
if (channel >= slave->desc->channels)
{
- EC_DBG(KERN_WARNING "EtherCAT: Writing failed - "
- "Slave %4X (%s %s) has no channel %i.\n",
- slave->station_address, slave->desc->vendor_name,
- slave->desc->product_name, channel);
+ EC_DBG(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);
return;
}