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ethercat
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Warten beim Empfangen der Prozessdaten, Bugfix und kleinere Verbesserungen.

This commit is contained in:
Florian Pose 2005-11-18 11:46:20 +00:00
parent da79bcaff6
commit 16a7734a19
6 changed files with 78 additions and 89 deletions
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2
drivers/ec_command.c
View File

@ -112,7 +112,7 @@ void EtherCAT_command_write(EtherCAT_command_t *cmd,
const unsigned char *data)
{
if (node_address == 0x0000)
EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n");
EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n");
ECAT_FUNC_HEADER;

20
drivers/ec_device.c
View File

@ -253,28 +253,30 @@ int EtherCAT_device_send(EtherCAT_device_t *ecd,
@param ecd EtherCAT-Gerät
@param data Zeiger auf den Speicherbereich, in den die
empfangenen Daten kopiert werden sollen
@param size Größe des angegebenen Speicherbereichs
empfangenen Daten kopiert werden sollen
@return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
*/
int EtherCAT_device_receive(EtherCAT_device_t *ecd,
unsigned char *data,
unsigned int size)
unsigned char *data)
{
int cnt;
if (ecd->state != ECAT_DS_RECEIVED)
{
EC_DBG(KERN_ERR "EtherCAT: receive - Nothing received!\n");
return -1;
}
cnt = min(ecd->rx_data_length, size);
memcpy(data,ecd->rx_data, cnt);
if (ecd->rx_data_length > ECAT_FRAME_BUFFER_SIZE)
{
EC_DBG(KERN_ERR "EtherCAT: receive - Reveived frame too long (%i Bytes)!\n",
ecd->rx_data_length);
return -1;
}
return cnt;
memcpy(data, ecd->rx_data, ecd->rx_data_length);
return ecd->rx_data_length;
}
/***************************************************************/

2
drivers/ec_device.h
View File

@ -77,7 +77,7 @@ int EtherCAT_device_open(EtherCAT_device_t *);
int EtherCAT_device_close(EtherCAT_device_t *);
int EtherCAT_device_send(EtherCAT_device_t *, unsigned char *, unsigned int);
int EtherCAT_device_receive(EtherCAT_device_t *, unsigned char *, unsigned int);
int EtherCAT_device_receive(EtherCAT_device_t *, unsigned char *);
void EtherCAT_device_call_isr(EtherCAT_device_t *);
void EtherCAT_device_debug(EtherCAT_device_t *);

12
drivers/ec_globals.h
View File

@ -15,17 +15,7 @@
/**
Maximale Größe eines EtherCAT-Frames
*/
#define ECAT_FRAME_BUFFER_SIZE 1600
/**
Anzahl der Kommandos in einem Master-Kommandoring
*/
#define ECAT_COMMAND_RING_SIZE 10
/**
Anzahl der Versuche beim Asynchronen Senden/Empfangen
*/
#define ECAT_NUM_RETRIES 10
#define ECAT_FRAME_BUFFER_SIZE 1500
/**
NULL-Define, falls noch nicht definiert.

126
drivers/ec_master.c
View File

@ -25,7 +25,7 @@
@param master Zeiger auf den zu initialisierenden
EtherCAT-Master
@param dev Zeiger auf das EtherCAT-gerät, mit dem der
@param dev Zeiger auf das EtherCAT-Gerät, mit dem der
Master arbeiten soll
@return 0 bei Erfolg, sonst < 0 (= dev ist NULL)
@ -96,10 +96,12 @@ int EtherCAT_simple_send_receive(EtherCAT_master_t *master,
if (EtherCAT_simple_send(master, cmd) < 0) return -1;
tries_left = 100;
while (cmd->state == ECAT_CS_SENT && tries_left)
EtherCAT_device_call_isr(master->dev);
tries_left = 1000;
while (master->dev->state == ECAT_DS_SENT && tries_left)
{
udelay(10);
udelay(1);
EtherCAT_device_call_isr(master->dev);
tries_left--;
}
@ -137,6 +139,13 @@ int EtherCAT_simple_send(EtherCAT_master_t *master,
length = cmd->data_length + 12;
framelength = length + 2;
if (framelength > ECAT_FRAME_BUFFER_SIZE)
{
EC_DBG(KERN_ERR "EtherCAT: Frame too long (%i)!\n", framelength);
return -1;
}
if (framelength < 46) framelength = 46;
if (master->debug_level > 0)
@ -223,32 +232,32 @@ int EtherCAT_simple_send(EtherCAT_master_t *master,
int EtherCAT_simple_receive(EtherCAT_master_t *master,
EtherCAT_command_t *cmd)
{
unsigned int rx_data_length, length;
unsigned int length;
int receive_ret;
unsigned char command_type, command_index;
rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
ECAT_FRAME_BUFFER_SIZE);
if ((receive_ret = EtherCAT_device_receive(master->dev,
master->rx_data)) < 0)
{
return -1;
}
if (rx_data_length < 2)
master->rx_data_length = (unsigned int) receive_ret;
if (master->rx_data_length < 2)
{
EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT header!\n");
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
output_debug_data(master->tx_data, master->tx_data_length);
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
output_debug_data(master->rx_data, rx_data_length);
output_debug_data(master);
return -1;
}
// Länge des gesamten Frames prüfen
length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
if (length > rx_data_length)
if (length > master->rx_data_length)
{
EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n");
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
output_debug_data(master->tx_data, master->tx_data_length);
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
output_debug_data(master->rx_data, rx_data_length);
output_debug_data(master);
return -1;
}
@ -256,13 +265,10 @@ int EtherCAT_simple_receive(EtherCAT_master_t *master,
command_index = master->rx_data[2 + 1];
length = (master->rx_data[2 + 6] & 0xFF) | ((master->rx_data[2 + 7] & 0x07) << 8);
if (rx_data_length - 2 < length + 12)
if (master->rx_data_length - 2 < length + 12)
{
EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n");
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
output_debug_data(master->tx_data, master->tx_data_length);
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
output_debug_data(master->rx_data, rx_data_length);
output_debug_data(master);
return -1;
}
@ -283,10 +289,7 @@ int EtherCAT_simple_receive(EtherCAT_master_t *master,
else
{
EC_DBG(KERN_WARNING "EtherCAT: WARNING - Send/Receive anomaly!\n");
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
output_debug_data(master->tx_data, master->tx_data_length);
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
output_debug_data(master->rx_data, rx_data_length);
output_debug_data(master);
}
master->dev->state = ECAT_DS_READY;
@ -991,8 +994,24 @@ int EtherCAT_write_process_data(EtherCAT_master_t *master)
int EtherCAT_read_process_data(EtherCAT_master_t *master)
{
unsigned int tries_left;
EtherCAT_device_call_isr(master->dev);
tries_left = 1000;
while (master->dev->state == ECAT_DS_SENT && tries_left)
{
udelay(1);
EtherCAT_device_call_isr(master->dev);
tries_left--;
}
if (!tries_left)
{
EC_DBG(KERN_ERR "EtherCAT: Timeout while receiving process data!\n");
return -1;
}
if (EtherCAT_simple_receive(master, &master->process_data_command) < 0)
{
EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");
@ -1028,41 +1047,6 @@ void EtherCAT_clear_process_data(EtherCAT_master_t *master)
/***************************************************************/
/**
Setzt einen Byte-Wert im Speicher.
@param data Startadresse
@param offset Byte-Offset
@param value Wert
*/
void set_byte(unsigned char *data,
unsigned int offset,
unsigned char value)
{
data[offset] = value;
}
/***************************************************************/
/**
Setzt einen Word-Wert im Speicher.
@param data Startadresse
@param offset Byte-Offset
@param value Wert
*/
void set_word(unsigned char *data,
unsigned int offset,
unsigned int value)
{
data[offset] = value & 0xFF;
data[offset + 1] = (value & 0xFF00) >> 8;
}
/***************************************************************/
/**
Gibt Frame-Inhalte zwecks Debugging aus.
@ -1070,14 +1054,28 @@ void set_word(unsigned char *data,
@param length Länge der Daten
*/
void output_debug_data(unsigned char *data, unsigned int length)
void output_debug_data(const EtherCAT_master_t *master)
{
unsigned int i;
EC_DBG(KERN_DEBUG "EtherCAT: tx_data content (%i Bytes):\n",
master->tx_data_length);
EC_DBG(KERN_DEBUG);
for (i = 0; i < length; i++)
for (i = 0; i < master->tx_data_length; i++)
{
EC_DBG("%02X ", data[i]);
EC_DBG("%02X ", master->tx_data[i]);
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
}
EC_DBG("\n");
EC_DBG(KERN_DEBUG "EtherCAT: rx_data content (%i Bytes):\n",
master->rx_data_length);
EC_DBG(KERN_DEBUG);
for (i = 0; i < master->rx_data_length; i++)
{
EC_DBG("%02X ", master->rx_data[i]);
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
}
EC_DBG("\n");

5
drivers/ec_master.h
View File

@ -44,6 +44,7 @@ typedef struct
unsigned char rx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statische Speicher für
eine Kopie des Rx-Buffers
im EtherCAT-Gerät */
unsigned int rx_data_length; /**< Länge der Daten im Empfangsspeicher */
unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
unsigned int process_data_length; /**< Länge der Prozessdaten */
@ -82,9 +83,7 @@ int EtherCAT_read_process_data(EtherCAT_master_t *);
void EtherCAT_clear_process_data(EtherCAT_master_t *);
// Private functions
void set_byte(unsigned char *, unsigned int, unsigned char);
void set_word(unsigned char *, unsigned int, unsigned int);
void output_debug_data(unsigned char *, unsigned int);
void output_debug_data(const EtherCAT_master_t *);
/***************************************************************/