--- a/master/slave.c Tue Mar 21 20:25:50 2006 +0000
+++ b/master/slave.c Wed Mar 22 11:42:44 2006 +0000
@@ -21,10 +21,8 @@
int ec_slave_fetch_categories(ec_slave_t *);
int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
-void ec_slave_fetch_fmmu(ec_slave_t *, const uint8_t *);
-void ec_slave_fetch_sync(ec_slave_t *, const uint8_t *);
-void ec_slave_fetch_txpdo(ec_slave_t *, const uint8_t *);
-void ec_slave_fetch_rxpdo(ec_slave_t *, const uint8_t *);
+int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);
+int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
/*****************************************************************************/
@@ -53,11 +51,12 @@
slave->type = NULL;
slave->registered = 0;
slave->fmmu_count = 0;
-
- INIT_LIST_HEAD(&slave->eeprom_strings);
slave->eeprom_name = NULL;
slave->eeprom_group = NULL;
slave->eeprom_desc = NULL;
+ INIT_LIST_HEAD(&slave->eeprom_strings);
+ INIT_LIST_HEAD(&slave->eeprom_syncs);
+ INIT_LIST_HEAD(&slave->eeprom_pdos);
}
/*****************************************************************************/
@@ -68,14 +67,38 @@
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
{
- ec_slave_string_t *string, *next;
+ ec_eeprom_string_t *string, *next_str;
+ ec_eeprom_sync_t *sync, *next_sync;
+ ec_eeprom_pdo_t *pdo, *next_pdo;
+ ec_eeprom_pdo_entry_t *entry, *next_ent;
// Alle Strings freigeben
- list_for_each_entry_safe(string, next, &slave->eeprom_strings, list) {
+ list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
list_del(&string->list);
kfree(string);
}
+ // Alle Sync-Manager freigeben
+ list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {
+ list_del(&sync->list);
+ kfree(sync);
+ }
+
+ // Alle PDOs freigeben
+ list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {
+ list_del(&pdo->list);
+ if (pdo->name) kfree(pdo->name);
+
+ // Alle Entries innerhalb eines PDOs freigeben
+ list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {
+ list_del(&entry->list);
+ if (entry->name) kfree(entry->name);
+ kfree(entry);
+ }
+
+ kfree(pdo);
+ }
+
if (slave->eeprom_name) kfree(slave->eeprom_name);
if (slave->eeprom_group) kfree(slave->eeprom_group);
if (slave->eeprom_desc) kfree(slave->eeprom_desc);
@@ -299,7 +322,7 @@
int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT-Slave */)
{
- uint16_t word_offset, header, word_count;
+ uint16_t word_offset, cat_type, word_count;
uint32_t value;
uint8_t *cat_data;
unsigned int i;
@@ -314,16 +337,16 @@
}
while (1) {
- // read category header
+ // read category type
if (ec_slave_sii_read(slave, word_offset, &value)) {
- EC_ERR("Unable to read category header and size.\n");
+ EC_ERR("Unable to read category header.\n");
goto out_free;
}
// Last category?
if ((value & 0xFFFF) == 0xFFFF) break;
- header = value & 0x7FFF;
+ cat_type = value & 0x7FFF;
word_count = (value >> 16) & 0xFFFF;
// Fetch category data
@@ -344,36 +367,33 @@
}
}
- switch (header)
+ switch (cat_type)
{
case 0x000A:
if (ec_slave_fetch_strings(slave, cat_data))
goto out_free;
break;
case 0x001E:
- case 0x0001:
if (ec_slave_fetch_general(slave, cat_data))
goto out_free;
break;
case 0x0028:
- case 0x0002:
- ec_slave_fetch_fmmu(slave, cat_data);
break;
case 0x0029:
- case 0x0003:
- ec_slave_fetch_sync(slave, cat_data);
+ if (ec_slave_fetch_sync(slave, cat_data, word_count))
+ goto out_free;
break;
case 0x0032:
- case 0x0004:
- ec_slave_fetch_txpdo(slave, cat_data);
+ if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_TX_PDO))
+ goto out_free;
break;
case 0x0033:
- case 0x0005:
- ec_slave_fetch_rxpdo(slave, cat_data);
+ if (ec_slave_fetch_pdo(slave, cat_data, word_count, EC_RX_PDO))
+ goto out_free;
break;
default:
- EC_WARN("Unknown category header 0x%04X in slave %i.\n",
- header, slave->ring_position);
+ EC_WARN("Unknown category type 0x%04X in slave %i.\n",
+ cat_type, slave->ring_position);
}
word_offset += 2 + word_count;
@@ -402,21 +422,20 @@
unsigned int string_count, i;
size_t size;
off_t offset;
- ec_slave_string_t *string;
+ ec_eeprom_string_t *string;
string_count = data[0];
offset = 1;
for (i = 0; i < string_count; i++) {
size = data[offset];
// Speicher für String-Objekt und Daten in einem Rutsch allozieren
- if (!(string = (ec_slave_string_t *) kmalloc(sizeof(ec_slave_string_t)
- + size + 1,
- GFP_KERNEL))) {
+ if (!(string = (ec_eeprom_string_t *)
+ kmalloc(sizeof(ec_eeprom_string_t) + size + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate string memory.\n");
return -1;
}
string->size = size;
- string->data = (char *) string + sizeof(ec_slave_string_t);
+ string->data = (char *) string + sizeof(ec_eeprom_string_t);
memcpy(string->data, data + offset + 1, size);
string->data[size] = 0x00;
list_add_tail(&string->list, &slave->eeprom_strings);
@@ -449,25 +468,36 @@
/*****************************************************************************/
/**
- Holt die Daten einer FMMU-Kategorie.
-*/
-
-void ec_slave_fetch_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
- const uint8_t *data /**< Kategorie-Daten */
- )
-{
-}
-
-/*****************************************************************************/
-
-/**
Holt die Daten einer Sync-Manager-Kategorie.
*/
-void ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT-Slave */
- const uint8_t *data /**< Kategorie-Daten */
- )
-{
+int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT-Slave */
+ const uint8_t *data, /**< Kategorie-Daten */
+ size_t word_count /**< Anzahl Words */
+ )
+{
+ unsigned int sync_count, i;
+ ec_eeprom_sync_t *sync;
+
+ sync_count = word_count / 4; // Sync-Manager-Strunktur ist 4 Worte lang
+
+ for (i = 0; i < sync_count; i++, data += 8) {
+ if (!(sync = (ec_eeprom_sync_t *) kmalloc(sizeof(ec_eeprom_sync_t),
+ GFP_KERNEL))) {
+ EC_ERR("Failed to allocate Sync-Manager memory.\n");
+ return -1;
+ }
+
+ sync->index = i;
+ sync->physical_start_address = *((uint16_t *) (data + 0));
+ sync->length = *((uint16_t *) (data + 2));
+ sync->control_register = data[4];
+ sync->enable = data[6];
+
+ list_add_tail(&sync->list, &slave->eeprom_syncs);
+ }
+
+ return 0;
}
/*****************************************************************************/
@@ -476,22 +506,58 @@
Holt die Daten einer TXPDO-Kategorie.
*/
-void ec_slave_fetch_txpdo(ec_slave_t *slave, /**< EtherCAT-Slave */
- const uint8_t *data /**< Kategorie-Daten */
- )
-{
-}
-
-/*****************************************************************************/
-
-/**
- Holt die Daten einer RXPDO-Kategorie.
-*/
-
-void ec_slave_fetch_rxpdo(ec_slave_t *slave, /**< EtherCAT-Slave */
- const uint8_t *data /**< Kategorie-Daten */
- )
-{
+int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT-Slave */
+ const uint8_t *data, /**< Kategorie-Daten */
+ size_t word_count, /**< Anzahl Worte */
+ ec_pdo_type_t pdo_type /**< PDO-Typ */
+ )
+{
+ ec_eeprom_pdo_t *pdo;
+ ec_eeprom_pdo_entry_t *entry;
+ unsigned int entry_count, i;
+
+ while (word_count >= 4) {
+ if (!(pdo = (ec_eeprom_pdo_t *) kmalloc(sizeof(ec_eeprom_pdo_t),
+ GFP_KERNEL))) {
+ EC_ERR("Failed to allocate PDO memory.\n");
+ return -1;
+ }
+
+ INIT_LIST_HEAD(&pdo->entries);
+ pdo->type = pdo_type;
+
+ pdo->index = *((uint16_t *) data);
+ entry_count = data[2];
+ pdo->sync_manager = data[3];
+ pdo->name = NULL;
+ ec_slave_locate_string(slave, data[5], &pdo->name);
+
+ list_add_tail(&pdo->list, &slave->eeprom_pdos);
+
+ word_count -= 4;
+ data += 8;
+
+ for (i = 0; i < entry_count; i++) {
+ if (!(entry = (ec_eeprom_pdo_entry_t *)
+ kmalloc(sizeof(ec_eeprom_pdo_entry_t), GFP_KERNEL))) {
+ EC_ERR("Failed to allocate PDO entry memory.\n");
+ return -1;
+ }
+
+ entry->index = *((uint16_t *) data);
+ entry->subindex = data[2];
+ entry->name = NULL;
+ ec_slave_locate_string(slave, data[3], &entry->name);
+ entry->bit_length = data[5];
+
+ list_add_tail(&entry->list, &pdo->entries);
+
+ word_count -= 4;
+ data += 8;
+ }
+ }
+
+ return 0;
}
/*****************************************************************************/
@@ -502,26 +568,40 @@
int ec_slave_locate_string(ec_slave_t *slave, unsigned int index, char **ptr)
{
- ec_slave_string_t *string;
-
+ ec_eeprom_string_t *string;
+ char *err_string;
+
+ // Erst alten Speicher freigeben
if (*ptr) {
kfree(*ptr);
*ptr = NULL;
}
+ // Index 0 bedeutet "nicht belegt"
if (!index) return 0;
+ // EEPROM-String mit Index finden und kopieren
list_for_each_entry(string, &slave->eeprom_strings, list) {
- if (!(--index)) {
- if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_KERNEL))) {
- EC_ERR("Unable to allocate string memory.\n");
- return -1;
- }
- memcpy(*ptr, string->data, string->size + 1);
- break;
- }
- }
-
+ if (--index) continue;
+
+ if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_KERNEL))) {
+ EC_ERR("Unable to allocate string memory.\n");
+ return -1;
+ }
+ memcpy(*ptr, string->data, string->size + 1);
+ return 0;
+ }
+
+ EC_WARN("String %i not found in slave %i.\n", index, slave->ring_position);
+
+ err_string = "(string not found)";
+
+ if (!(*ptr = (char *) kmalloc(strlen(err_string) + 1, GFP_KERNEL))) {
+ EC_ERR("Unable to allocate string memory.\n");
+ return -1;
+ }
+
+ memcpy(*ptr, err_string, strlen(err_string) + 1);
return 0;
}
@@ -704,6 +784,10 @@
void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
{
+ ec_eeprom_sync_t *sync;
+ ec_eeprom_pdo_t *pdo;
+ ec_eeprom_pdo_entry_t *entry;
+
EC_INFO("x-- EtherCAT slave information ---------------\n");
if (slave->type) {
@@ -725,19 +809,46 @@
slave->base_fmmu_count, slave->base_sync_count);
EC_INFO("| EEPROM data:\n");
+
if (slave->sii_alias)
EC_INFO("| Configured station alias: 0x%04X (%i)\n",
slave->sii_alias, slave->sii_alias);
+
EC_INFO("| Vendor-ID: 0x%08X, Product code: 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
EC_INFO("| Revision number: 0x%08X, Serial number: 0x%08X\n",
slave->sii_revision_number, slave->sii_serial_number);
+
if (slave->eeprom_name)
EC_INFO("| Name: %s\n", slave->eeprom_name);
if (slave->eeprom_group)
EC_INFO("| Group: %s\n", slave->eeprom_group);
if (slave->eeprom_desc)
EC_INFO("| Description: %s\n", slave->eeprom_desc);
+
+ if (!list_empty(&slave->eeprom_syncs)) {
+ EC_INFO("| Sync-Managers:\n");
+ list_for_each_entry(sync, &slave->eeprom_syncs, list) {
+ EC_INFO("| %i: 0x%04X, length %i, control 0x%02X, %s\n",
+ sync->index, sync->physical_start_address, sync->length,
+ sync->control_register,
+ sync->enable ? "enable" : "disable");
+ }
+ }
+
+ list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
+ EC_INFO("| %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
+ pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
+ pdo->name ? pdo->name : "???",
+ pdo->index, pdo->sync_manager);
+
+ list_for_each_entry(entry, &pdo->entries, list) {
+ EC_INFO("| \"%s\" 0x%04X:%X, %i Bit\n",
+ entry->name ? entry->name : "???",
+ entry->index, entry->subindex, entry->bit_length);
+ }
+ }
+
EC_INFO("x---------------------------------------------\n");
}
--- a/master/slave.h Tue Mar 21 20:25:50 2006 +0000
+++ b/master/slave.h Wed Mar 22 11:42:44 2006 +0000
@@ -21,17 +21,18 @@
typedef enum
{
- EC_SLAVE_STATE_UNKNOWN = 0x00, /**< Status unbekannt */
- EC_SLAVE_STATE_INIT = 0x01, /**< Init-Zustand (Keine Mailbox-
- Kommunikation, Kein I/O) */
- EC_SLAVE_STATE_PREOP = 0x02, /**< Pre-Operational (Mailbox-
- Kommunikation, Kein I/O) */
- EC_SLAVE_STATE_SAVEOP = 0x04, /**< Save-Operational (Mailbox-
- Kommunikation und Input Update) */
- EC_SLAVE_STATE_OP = 0x08, /**< Operational, (Mailbox-
- Kommunikation und Input/Output Update) */
- EC_ACK = 0x10 /**< Acknoledge-Bit beim Zustandswechsel
- (dies ist kein eigener Zustand) */
+ EC_SLAVE_STATE_UNKNOWN = 0x00,
+ /**< Status unbekannt */
+ EC_SLAVE_STATE_INIT = 0x01,
+ /**< Init-Zustand (Keine Mailbox-Kommunikation, Kein I/O) */
+ EC_SLAVE_STATE_PREOP = 0x02,
+ /**< Pre-Operational (Mailbox-Kommunikation, Kein I/O) */
+ EC_SLAVE_STATE_SAVEOP = 0x04,
+ /**< Save-Operational (Mailbox-Kommunikation und Input Update) */
+ EC_SLAVE_STATE_OP = 0x08,
+ /**< Operational, (Mailbox-Kommunikation und Input/Output Update) */
+ EC_ACK = 0x10
+ /**< Acknoledge-Bit beim Zustandswechsel (kein eigener Zustand) */
}
ec_slave_state_t;
@@ -52,7 +53,7 @@
/*****************************************************************************/
/**
- EEPROM-String.
+ String im EEPROM eines EtherCAT-Slaves.
*/
typedef struct
@@ -61,7 +62,70 @@
size_t size;
char *data;
}
-ec_slave_string_t;
+ec_eeprom_string_t;
+
+/*****************************************************************************/
+
+/**
+ Sync-Manager-Konfiguration laut EEPROM.
+*/
+
+typedef struct
+{
+ struct list_head list;
+ unsigned int index;
+ uint16_t physical_start_address;
+ uint16_t length;
+ uint8_t control_register;
+ uint8_t enable;
+}
+ec_eeprom_sync_t;
+
+/*****************************************************************************/
+
+/**
+ PDO-Typ.
+*/
+
+typedef enum
+{
+ EC_RX_PDO,
+ EC_TX_PDO
+}
+ec_pdo_type_t;
+
+/*****************************************************************************/
+
+/**
+ PDO-Beschreibung im EEPROM.
+*/
+
+typedef struct
+{
+ struct list_head list;
+ ec_pdo_type_t type;
+ uint16_t index;
+ uint8_t sync_manager;
+ char *name;
+ struct list_head entries;
+}
+ec_eeprom_pdo_t;
+
+/*****************************************************************************/
+
+/**
+ PDO-Entry-Beschreibung im EEPROM.
+*/
+
+typedef struct
+{
+ struct list_head list;
+ uint16_t index;
+ uint8_t subindex;
+ char *name;
+ uint8_t bit_length;
+}
+ec_eeprom_pdo_entry_t;
/*****************************************************************************/
@@ -100,6 +164,8 @@
uint8_t fmmu_count; /**< Wieviele FMMUs schon benutzt sind. */
struct list_head eeprom_strings; /**< Strings im EEPROM */
+ struct list_head eeprom_syncs; /**< Syncmanager-Konfigurationen (EEPROM) */
+ struct list_head eeprom_pdos; /**< PDO-Beschreibungen im EEPROM */
char *eeprom_name; /**< Slave-Name laut Hersteller */
char *eeprom_group; /**< Slave-Beschreibung laut Hersteller */