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ethercat
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Bugfix: SDO download. SDO abort codes ausgeben.

This commit is contained in:
Florian Pose 2006-03-20 11:02:39 +00:00
parent 374cda059d
commit 002ea06431
4 changed files with 162 additions and 30 deletions
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141
master/canopen.c
View File

@ -16,6 +16,21 @@
/*****************************************************************************/
/**
SDO Abort Code Messages
*/
typedef struct
{
uint32_t code;
const char *message;
}
ec_sdo_abort_message_t;
const ec_sdo_abort_message_t sdo_abort_messages[];
/*****************************************************************************/
/**
Schreibt ein CANopen-SDO (service data object).
*/
@ -32,13 +47,15 @@ int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
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;
if (size == 0 || size > 4) {
EC_ERR("Illegal SDO data size: %i!\n", size);
EC_ERR("Invalid SDO data size: %i!\n", size);
return -1;
}
@ -46,8 +63,8 @@ int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
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, 0x13 | ((4 - size) << 2)); // Spec., exp., init.
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);
@ -64,10 +81,12 @@ int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
// Read "written bit" of Sync-Manager
start = get_cycles();
timeout = cpu_khz; // 1ms
timeout = (cycles_t) 10 * cpu_khz; // 10ms
do
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",
@ -78,14 +97,18 @@ int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
end = get_cycles();
if (EC_READ_U8(command.data + 5) & 8) break; // Written bit is high
}
while ((end - start) < timeout);
if ((end - start) >= timeout) {
EC_ERR("Mailbox check - Slave %i timed out.\n", slave->ring_position);
return -1;
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",
@ -93,13 +116,35 @@ int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
return -1;
}
if (EC_READ_U8 (command.data + 5) != 0x03 || // COE
EC_READ_U16(command.data + 6) != 0x3000 || // SDO response
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.
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_ERR("Illegal mailbox response at slave %i!\n",
EC_ERR("Invalid SDO download response at slave %i!\n",
slave->ring_position);
return -1;
}
@ -123,6 +168,8 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
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;
@ -165,7 +212,7 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
while (likely((end - start) < timeout));
if (unlikely((end - start) >= timeout)) {
EC_ERR("Mailbox check - Slave %i timed out.\n", slave->ring_position);
EC_ERR("Mailbox check on slave %i timed out.\n", slave->ring_position);
return -1;
}
@ -176,13 +223,34 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
return -1;
}
if (EC_READ_U8 (command.data + 5) != 0x03 || // COE
EC_READ_U16(command.data + 6) != 0x3000 || // SDO response
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.
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_ERR("Illegal mailbox response at slave %i!\n",
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
return -1;
}
@ -250,6 +318,45 @@ int ecrt_master_sdo_read(ec_master_t *master,
/*****************************************************************************/
const ec_sdo_abort_message_t sdo_abort_messages[] = {
{0x05030000, "Toggle bit not changed"},
{0x05040000, "SDO protocol timeout"},
{0x05040001, "Client/Server command specifier not valid or unknown"},
{0x05040005, "Out of memory"},
{0x06010000, "Unsupported access to an object"},
{0x06010001, "Attempt to read a write-only object"},
{0x06010002, "Attempt to write a read-only object"},
{0x06020000, "This object does not exist in the object directory"},
{0x06040041, "The object cannot be mapped into the PDO"},
{0x06040042, "The number and length of the objects to be mapped would"
" exceed the PDO length"},
{0x06040043, "General parameter incompatibility reason"},
{0x06040047, "Gerneral internal incompatibility in device"},
{0x06060000, "Access failure due to a hardware error"},
{0x06070010, "Data type does not match, length of service parameter does"
" not match"},
{0x06070012, "Data type does not match, length of service parameter too"
" high"},
{0x06070013, "Data type does not match, length of service parameter too"
" low"},
{0x06090011, "Subindex does not exist"},
{0x06090030, "Value range of parameter exceeded"},
{0x06090031, "Value of parameter written too high"},
{0x06090032, "Value of parameter written too low"},
{0x06090036, "Maximum value is less than minimum value"},
{0x08000000, "General error"},
{0x08000020, "Data cannot be transferred or stored to the application"},
{0x08000021, "Data cannot be transferred or stored to the application"
" because of local control"},
{0x08000022, "Data cannot be transferred or stored to the application"
" because of the present device state"},
{0x08000023, "Object dictionary dynamic generation fails or no object"
" dictionary is present"},
{}
};
/*****************************************************************************/
EXPORT_SYMBOL(ecrt_slave_sdo_write);
EXPORT_SYMBOL(ecrt_slave_sdo_read);
EXPORT_SYMBOL(ecrt_master_sdo_write);

6
master/master.c
View File

@ -564,7 +564,7 @@ ec_slave_t *ec_master_slave_address(const ec_master_t *master,
return master->slaves + first;
}
EC_ERR("Bus ID \"%s\" - Absolute position illegal!\n", address);
EC_ERR("Bus ID \"%s\" - Absolute position invalid!\n", address);
}
else if (remainder[0] == ':') { // field position
@ -578,7 +578,7 @@ ec_slave_t *ec_master_slave_address(const ec_master_t *master,
}
if (remainder2[0]) {
EC_ERR("Bus ID \"%s\" - Illegal trailer (2)!\n", address);
EC_ERR("Bus ID \"%s\" - Invalid trailer (2)!\n", address);
return NULL;
}
@ -598,7 +598,7 @@ ec_slave_t *ec_master_slave_address(const ec_master_t *master,
}
else
EC_ERR("Bus ID \"%s\" - Illegal trailer!\n", address);
EC_ERR("Bus ID \"%s\" - Invalid trailer!\n", address);
// FIXME ???

2
master/module.c
View File

@ -74,7 +74,7 @@ int __init ec_init_module(void)
EC_INFO("Master driver, %s\n", COMPILE_INFO);
if (ec_master_count < 1) {
EC_ERR("Error - Illegal ec_master_count: %i\n", ec_master_count);
EC_ERR("Error - Invalid ec_master_count: %i\n", ec_master_count);
return -1;
}

43
mini/mini.c
View File

@ -29,19 +29,22 @@ ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// Datenfelder
void *r_ssi_input, *r_ssi_status;
void *r_field[9];
void *r_4102[3];
// Kanäle
uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
{&r_field[0], "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
{&r_ssi_input, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
{&r_ssi_status, "1", "Beckhoff", "EL5001", "Status", 0, 1},
{&r_field[1], "2", "Beckhoff", "EL4132", "OutputValue", 0, 1},
{&r_field[2], "3", "Beckhoff", "EL3162", "InputValue", 0, 1},
{r_4102, "4", "Beckhoff", "EL4102", "OutputValue", 0, 3},
{&r_field[4], "5", "Beckhoff", "EL5001", "InputValue", 0, 1},
{&r_field[5], "6", "Beckhoff", "EL1014", "InputValue", 0, 1},
{&r_field[2], "3", "Beckhoff", "EL3162", "InputValue", 0, 1},
{r_4102, "4", "Beckhoff", "EL4102", "OutputValue", 0, 2},
{&r_field[4], "5", "Beckhoff", "EL5001", "InputValue", 0, 1},
{&r_field[5], "6", "Beckhoff", "EL1014", "InputValue", 0, 1},
{&r_field[6], "7", "Beckhoff", "EL2004", "OutputValue", 0, 1},
{&r_field[7], "8", "Beckhoff", "EL4132", "OutputValue", 0, 1},
{&r_field[8], "9", "Beckhoff", "EL4132", "OutputValue", 0, 1},
@ -60,7 +63,8 @@ void run(unsigned long data)
ecrt_domain_process(domain1);
// Prozessdaten verarbeiten
// k_pos = EC_READ_U32(r_ssi);
k_pos = EC_READ_U32(r_ssi_input);
k_stat = EC_READ_U8(r_ssi_status);
// Prozessdaten senden
ecrt_domain_queue(domain1);
@ -80,7 +84,8 @@ void run(unsigned long data)
}
else {
counter = ABTASTFREQUENZ;
printk(KERN_INFO "k_pos = %i\n", k_pos);
printk(KERN_INFO "k_pos = %i\n", k_pos);
printk(KERN_INFO "k_stat = 0x%02X\n", k_stat);
}
// Timer neu starten
@ -123,6 +128,23 @@ int __init init_mini_module(void)
goto out_release_master;
}
//ecrt_master_debug(master, 2);
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 "EtherCAT: Failed to configure SSI!\n");
goto out_deactivate;
}
//ecrt_master_debug(master, 0);
#ifdef ASYNC
// Einmal senden und warten...
ecrt_master_prepare_async_io(master);
@ -139,11 +161,14 @@ int __init init_mini_module(void)
return 0;
out_deactivate:
ecrt_master_deactivate(master);
out_release_master:
ecrt_release_master(master);
ecrt_release_master(master);
out_return:
return -1;
return -1;
}
/*****************************************************************************/