Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
--- a/master/canopen.c Mon Mar 27 12:04:55 2006 +0000
+++ b/master/canopen.c Mon Mar 27 15:52:08 2006 +0000
@@ -29,6 +29,8 @@
const ec_sdo_abort_message_t sdo_abort_messages[];
+void ec_canopen_abort_msg(uint32_t);
+
/*****************************************************************************/
/**
@@ -42,107 +44,44 @@
size_t size /**< Größe des Datenfeldes */
)
{
- uint8_t data[0xF6];
- ec_command_t command;
+ uint8_t data[0x0A];
unsigned int i;
- ec_master_t *master;
- cycles_t start, end, timeout;
- uint32_t abort_code;
- const ec_sdo_abort_message_t *abort_msg;
-
- memset(data, 0x00, 0xF6);
-
- master = slave->master;
+ size_t rec_size;
if (size == 0 || size > 4) {
EC_ERR("Invalid SDO data size: %i!\n", size);
return -1;
}
- EC_WRITE_U16(data, 0x000A); // 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, 0x03); // CANopen over EtherCAT
- EC_WRITE_U16(data + 6, 0x02 << 12); // Number (0), Service (SDO request)
- EC_WRITE_U8 (data + 8, 0x23 | ((4 - size) << 2)); // Spec., exp., init.
- EC_WRITE_U16(data + 9, sdo_index);
- EC_WRITE_U8 (data + 11, sdo_subindex);
+ EC_WRITE_U16(data, 0x02 << 12); // Number (0), Service (SDO request)
+ EC_WRITE_U8 (data + 2, 0x23 | ((4 - size) << 2)); // Spec., exp., init.
+ EC_WRITE_U16(data + 3, sdo_index);
+ EC_WRITE_U8 (data + 5, sdo_subindex);
for (i = 0; i < size; i++) {
- EC_WRITE_U8(data + 12 + i, value & 0xFF);
+ EC_WRITE_U8(data + 6 + i, value & 0xFF);
value >>= 8;
}
- ec_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
- return -1;
- }
-
- // Read "written bit" of Sync-Manager
- start = get_cycles();
- timeout = (cycles_t) 10 * cpu_khz; // 10ms
-
- while (1)
- {
- udelay(100);
-
- ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
- if (unlikely(ec_master_simple_io(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; // Written bit is high
-
- if ((end - start) >= timeout) {
- EC_ERR("Mailbox check - Slave %i timed out.\n",
- slave->ring_position);
- return -1;
- }
- }
-
- if (unlikely(slave->master->debug_level) > 1)
- EC_DBG("SDO download took %ius.\n", ((u32) (end - start) * 1000
- / cpu_khz));
-
- ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox receiving failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (EC_READ_U8 (command.data + 5) != 0x03) { // nicht CoE
- EC_ERR("Invalid mailbox response (non-CoE) at slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (EC_READ_U16(command.data + 6) >> 12 == 0x02 && // SDO request
- EC_READ_U8 (command.data + 8) >> 5 == 0x04) { // Abort SDO transf. req.
+ // Mailox senden und empfangen
+ if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1;
+
+ rec_size = 0x0A;
+ if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
+
+ if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req.
EC_ERR("SDO download of 0x%04X:%X (value %X, size %X) aborted on slave"
" %i.\n", sdo_index, sdo_subindex, value, size,
slave->ring_position);
- abort_code = EC_READ_U32(command.data + 12);
- for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
- if (abort_msg->code == abort_code) {
- EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
- abort_msg->code, abort_msg->message);
- return -1;
- }
- }
- EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
- return -1;
- }
-
- if (EC_READ_U16(command.data + 6) >> 12 != 0x03 || // SDO response
- EC_READ_U8 (command.data + 8) >> 5 != 0x03 || // Download response
- EC_READ_U16(command.data + 9) != sdo_index || // Index
- EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ return -1;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x03 || // Download response
+ EC_READ_U16(data + 3) != sdo_index || // Index
+ EC_READ_U8 (data + 5) != sdo_subindex) // Subindex
{
EC_ERR("Invalid SDO download response at slave %i!\n",
slave->ring_position);
@@ -164,101 +103,37 @@
uint32_t *value /**< Speicher für gel. Wert */
)
{
- uint8_t data[0xF6];
- ec_command_t command;
- ec_master_t *master;
- cycles_t start, end, timeout;
- uint32_t abort_code;
- const ec_sdo_abort_message_t *abort_msg;
-
- memset(data, 0x00, 0xF6);
- master = slave->master;
-
- EC_WRITE_U16(data, 0x0006); // 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, 0x03); // CANopen over EtherCAT
- EC_WRITE_U16(data + 6, 0x2000); // Number (0), Service (SDO request)
- EC_WRITE_U8 (data + 8, 0x1 << 1 | 0x2 << 5); // Exp., Upload request
- EC_WRITE_U16(data + 9, sdo_index);
- EC_WRITE_U8 (data + 11, sdo_subindex);
-
- ec_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
- return -1;
- }
-
- // Read "written bit" of Sync-Manager
-
- start = get_cycles();
- timeout = cpu_khz; // 1ms
-
- while (1)
- {
- udelay(10);
-
- ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
- if (unlikely(ec_master_simple_io(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) { // Written bit is high
- break;
- }
-
- if (unlikely((end - start) >= timeout)) {
- EC_ERR("Mailbox check on slave %i timed out.\n",
- slave->ring_position);
- return -1;
- }
- }
-
- ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox receiving failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (EC_READ_U8 (command.data + 5) != 0x03) { // nicht CoE
- EC_ERR("Invalid mailbox response (non-CoE) at slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (EC_READ_U16(command.data + 6) >> 12 == 0x02 && // SDO request
- EC_READ_U8 (command.data + 8) >> 5 == 0x04) { // Abort SDO transf. req.
+ uint8_t data[0x0A];
+ size_t rec_size;
+
+ EC_WRITE_U16(data, 0x2000); // Number (0), Service (SDO request)
+ EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Exp., Upload request
+ EC_WRITE_U16(data + 3, sdo_index);
+ EC_WRITE_U8 (data + 5, sdo_subindex);
+
+ if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1;
+
+ rec_size = 6;
+ if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
+
+ if (EC_READ_U16(data ) >> 12 == 0x02 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req.
EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
sdo_index, sdo_subindex, slave->ring_position);
- abort_code = EC_READ_U32(command.data + 12);
- for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
- if (abort_msg->code == abort_code) {
- EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
- abort_msg->code, abort_msg->message);
- return -1;
- }
- }
- EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
- return -1;
- }
-
- if (EC_READ_U16(command.data + 6) >> 12 != 0x03 || // SDO response
- EC_READ_U8 (command.data + 8) >> 5 != 0x02 || // Upload response
- EC_READ_U16(command.data + 9) != sdo_index || // Index
- EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex
- {
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ return -1;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x02 || // Upload response
+ EC_READ_U16(data + 3) != sdo_index || // Index
+ EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
return -1;
}
- *value = EC_READ_U32(command.data + 12);
-
+ *value = EC_READ_U32(data + 6);
return 0;
}
@@ -320,6 +195,92 @@
/*****************************************************************************/
+/**
+ Holt das Object-Dictionary aus dem Slave.
+
+ \return 0, wenn alles ok, sonst < 0
+*/
+
+int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
+{
+ uint8_t data[0xF0];
+ size_t rec_size;
+
+ //EC_DBG("Fetching SDO list for slave %i...\n", slave->ring_position);
+
+ EC_WRITE_U16(data, 0x8000); // Number (0), Service (get OD request)
+ EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
+ EC_WRITE_U8 (data + 3, 0x00); // res.
+ EC_WRITE_U16(data + 4, 0x0000); // fragments left
+ EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
+
+ if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
+
+ do
+ {
+ rec_size = 0xF0;
+ if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
+
+ if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req.
+ EC_ERR("SDO list download aborted on slave %i.\n",
+ slave->ring_position);
+ ec_canopen_abort_msg(EC_READ_U32(data + 12));
+ return -1;
+ }
+
+ if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information
+ (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Get OD List response
+ EC_ERR("SDO information error response at slave %i!\n",
+ slave->ring_position);
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ return -1;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x08 || // SDO information
+ (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
+ EC_ERR("Invalid SDO list response at slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ if (rec_size < 8) {
+ EC_ERR("Invalid data size!\n");
+ return -1;
+ }
+
+#if 0
+ for (i = 0; i < (rec_size - 8) / 2; i++)
+ EC_INFO("Object 0x%04X\n", EC_READ_U16(data + 8 + i * 2));
+#endif
+ }
+ while (EC_READ_U8(data + 2) & 0x80);
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Gibt eine SDO-Abort-Meldung aus.
+*/
+
+void ec_canopen_abort_msg(uint32_t abort_code)
+{
+ const ec_sdo_abort_message_t *abort_msg;
+
+ for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
+ if (abort_msg->code == abort_code) {
+ EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
+ abort_msg->code, abort_msg->message);
+ return;
+ }
+ }
+ EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
+}
+
+/*****************************************************************************/
+
const ec_sdo_abort_message_t sdo_abort_messages[] = {
{0x05030000, "Toggle bit not changed"},
{0x05040000, "SDO protocol timeout"},
--- a/master/master.c Mon Mar 27 12:04:55 2006 +0000
+++ b/master/master.c Mon Mar 27 15:52:08 2006 +0000
@@ -711,24 +711,17 @@
first = 0;
}
if (master->slave_states & EC_SLAVE_STATE_PREOP) {
- if (!first) {
- printk(", ");
- first = 0;
- }
+ if (!first) printk(", ");
printk("PREOP");
+ first = 0;
}
if (master->slave_states & EC_SLAVE_STATE_SAVEOP) {
- if (!first) {
- printk(", ");
- first = 0;
- }
+ if (!first) printk(", ");
printk("SAVEOP");
+ first = 0;
}
if (master->slave_states & EC_SLAVE_STATE_OP) {
- if (!first) {
- printk(", ");
- first = 0;
- }
+ if (!first) printk(", ");
printk("OP");
}
printk(")\n");
@@ -860,6 +853,14 @@
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_PREOP)))
return -1;
+ // Fetch SDO list
+ if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
+ if (unlikely(ec_slave_fetch_sdo_list(slave))) {
+ EC_ERR("Could not fetch SDO list!\n");
+ return -1;
+ }
+ }
+
// Slaves that are not registered are only brought into PREOP
// state -> nice blinking and mailbox comm. possible
if (!slave->registered && !slave->type->bus_coupler) {
--- a/master/slave.c Mon Mar 27 12:04:55 2006 +0000
+++ b/master/slave.c Mon Mar 27 15:52:08 2006 +0000
@@ -48,6 +48,7 @@
slave->sii_product_code = 0;
slave->sii_revision_number = 0;
slave->sii_serial_number = 0;
+ slave->sii_mailbox_protocols = 0;
slave->type = NULL;
slave->registered = 0;
slave->fmmu_count = 0;
@@ -163,6 +164,12 @@
return -1;
}
+ if (unlikely(ec_slave_sii_read(slave, 0x001C,
+ &slave->sii_mailbox_protocols))) {
+ EC_ERR("Could not read SII supported mailbox protocols!\n");
+ return -1;
+ }
+
if (unlikely(ec_slave_fetch_categories(slave))) {
EC_ERR("Could not fetch category data!\n");
return -1;
@@ -785,6 +792,7 @@
ec_eeprom_sync_t *sync;
ec_eeprom_pdo_t *pdo;
ec_eeprom_pdo_entry_t *entry;
+ int first;
EC_INFO("x-- EtherCAT slave information ---------------\n");
@@ -806,6 +814,43 @@
EC_INFO("| Supported FMMUs: %i, Sync managers: %i\n",
slave->base_fmmu_count, slave->base_sync_count);
+ EC_INFO("| Supported mailbox protocols: ");
+ if (!slave->sii_mailbox_protocols) {
+ printk("(none)");
+ }
+ else {
+ first = 1;
+ if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
+ printk("AoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
+ if (!first) printk(", ");
+ printk("EoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
+ if (!first) printk(", ");
+ printk("CoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
+ if (!first) printk(", ");
+ printk("FoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
+ if (!first) printk(", ");
+ printk("SoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
+ if (!first) printk(", ");
+ printk("VoE");
+ }
+ }
+ printk("\n");
+
EC_INFO("| EEPROM data:\n");
if (slave->sii_alias)
@@ -908,6 +953,115 @@
/*****************************************************************************/
+/**
+ Sendet ein Mailbox-Kommando.
+ */
+
+int ec_slave_mailbox_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[0xF6];
+ ec_command_t command;
+
+ if (unlikely(size + 6 > 0xF6)) {
+ EC_ERR("Data size does not fit in mailbox!\n");
+ return -1;
+ }
+
+ memset(data, 0x00, 0xF6);
+
+ 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, 0x1800, 0xF6, data);
+ if (unlikely(ec_master_simple_io(slave->master, &command))) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
+ return -1;
+ }
+
+ 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)
+ {
+ 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; // Written bit is high
+
+ if ((end - start) >= timeout) {
+ EC_ERR("Mailbox check - Slave %i timed out.\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ udelay(100);
+ }
+
+ if (unlikely(slave->master->debug_level) > 1)
+ EC_DBG("SDO download took %ius.\n", ((u32) (end - start) * 1000
+ / cpu_khz));
+
+ ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
+ 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) != type) { // nicht CoE
+ EC_ERR("Invalid mailbox response (non-CoE) at slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ if ((data_size = EC_READ_U16(command.data)) > *size) {
+ EC_ERR("CoE data does not fit in buffer (%i > %i).\n",
+ data_size, *size);
+ return -1;
+ }
+
+ memcpy(prot_data, command.data + 6, data_size);
+ *size = data_size;
+ return 0;
+}
+
+/*****************************************************************************/
+
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
--- a/master/slave.h Mon Mar 27 12:04:55 2006 +0000
+++ b/master/slave.h Mon Mar 27 15:52:08 2006 +0000
@@ -39,6 +39,22 @@
/*****************************************************************************/
/**
+ Unterstützte Mailbox-Protokolle.
+*/
+
+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_VOE = 0x20 /**< Vendor specific */
+};
+
+/*****************************************************************************/
+
+/**
FMMU-Konfiguration.
*/
@@ -154,6 +170,7 @@
uint32_t sii_product_code; /**< Herstellerspezifischer Produktcode */
uint32_t sii_revision_number; /**< Revisionsnummer */
uint32_t sii_serial_number; /**< Seriennummer der Klemme */
+ uint32_t sii_mailbox_protocols; /**< Unterstützte Mailbox-Protokolle */
const ec_slave_type_t *type; /**< Zeiger auf die Beschreibung
des Slave-Typs */
@@ -185,6 +202,13 @@
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
+int ec_slave_mailbox_send(ec_slave_t *, uint8_t, const uint8_t *, size_t);
+int ec_slave_mailbox_receive(ec_slave_t *, uint8_t, uint8_t *, size_t *);
+
+// CANopen over EtherCAT
+int ec_slave_fetch_sdo_list(ec_slave_t *);
+
// Misc
void ec_slave_print(const ec_slave_t *);
int ec_slave_check_crc(ec_slave_t *);
--- a/rt/msr_module.c Mon Mar 27 12:04:55 2006 +0000
+++ b/rt/msr_module.c Mon Mar 27 15:52:08 2006 +0000
@@ -55,18 +55,20 @@
ec_domain_t *domain2 = NULL;
// Prozessdaten
-void *r_ssi;
+void *r_ssi, *r_ssi_st;
void *r_ssi2;
void *r_inc;
uint32_t k_angle;
-uint32_t k_pos;
+uint32_t k_ssi_pos;
+uint32_t k_ssi_status;
uint32_t k_preio;
uint32_t k_postio;
uint32_t k_finished;
ec_field_init_t domain1_fields[] = {
- {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0},
+ {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0},
+ {&r_ssi_st, "1", "Beckhoff", "EL5001", "Status", 0},
{}
};
@@ -99,7 +101,8 @@
ecrt_domain_process(domain2);
// Prozessdaten verarbeiten
- k_pos = EC_READ_U32(r_ssi);
+ k_ssi_pos = EC_READ_U32(r_ssi);
+ k_ssi_status = EC_READ_U32(r_ssi_st);
// Senden
ecrt_domain_queue(domain1);
@@ -114,7 +117,8 @@
ecrt_domain_process(domain2);
// Prozessdaten verarbeiten
- k_pos = EC_READ_U32(r_ssi);
+ k_ssi_pos = EC_READ_U32(r_ssi);
+ k_ssi_status = EC_READ_U32(r_ssi_st);
#endif
k_postio = (uint32_t) (get_cycles() - offset) * 1e6 / cpu_khz;
@@ -127,8 +131,9 @@
int msr_globals_register(void)
{
- msr_reg_kanal("/angle0", "", &k_angle, TUINT);
- msr_reg_kanal("/pos0", "", &k_pos, TUINT);
+ msr_reg_kanal("/angle0", "", &k_angle, TUINT);
+ msr_reg_kanal("/pos0", "", &k_ssi_pos, TUINT);
+ msr_reg_kanal("/ssi-status0", "", &k_ssi_status, TUINT);
msr_reg_kanal("/Timing/Pre-IO", "ns", &k_preio, TUINT);
msr_reg_kanal("/Timing/Post-IO", "ns", &k_postio, TUINT);
@@ -183,17 +188,17 @@
goto out_msr_cleanup;
}
- //ecrt_master_print(master);
+ ecrt_master_print(master);
printk(KERN_INFO "Registering domains...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
- printk(KERN_ERR "EtherCAT: Could not register domain!\n");
+ printk(KERN_ERR "Could not register domain!\n");
goto out_release_master;
}
if (!(domain2 = ecrt_master_create_domain(master))) {
- printk(KERN_ERR "EtherCAT: Could not register domain!\n");
+ printk(KERN_ERR "Could not register domain!\n");
goto out_release_master;
}
@@ -220,14 +225,29 @@
//ecrt_master_debug(master, 0);
-#if 1
- if (ecrt_master_sdo_read(master, "6", 0x100A, 1, &version)) {
+#if 0
+ if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) {
printk(KERN_ERR "Could not read SSI version!\n");
- goto out_release_master;
+ goto out_deactivate;
}
printk(KERN_INFO "Software-version: %u\n", version);
#endif
+#if 0
+ if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) ||
+ ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) ||
+ ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) ||
+ ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) ||
+ ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) ||
+ ecrt_master_sdo_write(master, "1", 0x4068, 0, 0, 1) ||
+ ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) ||
+ ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) ||
+ ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) {
+ printk(KERN_ERR "Failed to configure SSI slave!\n");
+ goto out_deactivate;
+ }
+#endif
+
#ifdef ASYNC
// Einmal senden und warten...
ecrt_master_prepare_async_io(master);
@@ -241,12 +261,12 @@
return 0;
+ out_deactivate:
+ ecrt_master_deactivate(master);
out_release_master:
ecrt_release_master(master);
-
out_msr_cleanup:
msr_rtlib_cleanup();
-
out_return:
return -1;
}