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ethercat
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Laden der SDO Dictionaries funktioniert.

This commit is contained in:
Florian Pose 2006-03-28 13:42:50 +00:00
parent 173d70ba3c
commit 1e150e4553
7 changed files with 187 additions and 48 deletions
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1
include/ecrt.h
View File

@ -52,6 +52,7 @@ void ecrt_release_master(ec_master_t *master);
ec_domain_t *ecrt_master_create_domain(ec_master_t *master);
int ecrt_master_activate(ec_master_t *master);
void ecrt_master_deactivate(ec_master_t *master);
int ecrt_master_fetch_sdo_lists(ec_master_t *master);
void ecrt_master_sync_io(ec_master_t *master);
void ecrt_master_async_send(ec_master_t *master);
void ecrt_master_async_receive(ec_master_t *master);

116
master/canopen.c
View File

@ -30,6 +30,7 @@ ec_sdo_abort_message_t;
const ec_sdo_abort_message_t sdo_abort_messages[];
void ec_canopen_abort_msg(uint32_t);
int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
/*****************************************************************************/
@ -205,10 +206,11 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
{
uint8_t data[0xF0];
size_t rec_size;
unsigned int i, sdo_count;
ec_sdo_t *sdo;
uint16_t sdo_index;
//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_U16(data, 0x8000); // Number (0), Service = SDO information
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
@ -216,21 +218,12 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
do
{
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_READ_U8(data + 2) & 0x7F) == 0x07) { // Error response
EC_ERR("SDO information error response at slave %i!\n",
slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
@ -249,12 +242,97 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
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
sdo_count = (rec_size - 8) / 2;
for (i = 0; i < sdo_count; i++) {
sdo_index = EC_READ_U16(data + 8 + i * 2);
if (!sdo_index) continue; // Manchmal ist der Index 0... ???
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for SDO!\n");
return -1;
}
sdo->index = sdo_index;
sdo->name = NULL;
list_add_tail(&sdo->list, &slave->sdo_dictionary);
}
} while (EC_READ_U8(data + 2) & 0x80);
// Jetzt alle Beschreibungen holen
if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
return 0;
}
/*****************************************************************************/
/**
Holt die Beschreibungen zu allen bereits bekannten SDOs.
\return 0, wenn alles ok, sonst < 0
*/
int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
{
uint8_t data[0xF0];
size_t rec_size, name_size;
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
EC_WRITE_U16(data, 0x8000); // Number (0), Service = SDO inform.
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
EC_WRITE_U8 (data + 3, 0x00); // res.
EC_WRITE_U16(data + 4, 0x0000); // fragments left
EC_WRITE_U16(data + 6, sdo->index); // SDO index
if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
rec_size = 0xF0;
if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size))
return -1;
if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
EC_ERR("SDO information error response at slave %i while"
" fetching SDO 0x%04X!\n", slave->ring_position,
sdo->index);
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) != 0x04 || // Obj. desc. resp.
EC_READ_U16(data + 6) != sdo->index) { // SDO index
EC_ERR("Invalid object description response at slave %i while"
" fetching SDO 0x%04X!\n", slave->ring_position,
sdo->index);
return -1;
}
if (rec_size < 12) {
EC_ERR("Invalid data size!\n");
return -1;
}
sdo->type = EC_READ_U16(data + 8);
sdo->max_subindex = EC_READ_U8(data + 10);
sdo->features = EC_READ_U8(data + 11);
name_size = rec_size - 12;
if (!name_size) {
EC_WARN("Object 0x%04X name size is 0...", sdo->index);
continue;
}
if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate SDO name!\n");
return -1;
}
memcpy(sdo->name, data + 12, name_size);
sdo->name[name_size] = 0;
if (EC_READ_U8(data + 2) & 0x80)
EC_WARN("Fragment follows in object description!\n");
}
while (EC_READ_U8(data + 2) & 0x80);
return 0;
}

39
master/master.c
View File

@ -853,14 +853,6 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
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) {
@ -918,6 +910,36 @@ void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT-Master */)
}
}
/*****************************************************************************/
/**
Lädt die SDO-Dictionaries aller Slaves.
Slaves, die kein CoE unterstützen, werden ausgelassen.
\return 0 wenn alles ok, sonst < 0
*/
int ecrt_master_fetch_sdo_lists(ec_master_t *master /**< EtherCAT-Master */)
{
ec_slave_t *slave;
unsigned int i;
for (i = 0; i < master->slave_count; i++) {
slave = master->slaves + i;
if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
if (unlikely(ec_slave_fetch_sdo_list(slave))) {
EC_ERR("Failed to fetch SDO list on slave %i!\n",
slave->ring_position);
return -1;
}
}
}
return 0;
}
/*****************************************************************************/
/**
@ -1155,6 +1177,7 @@ int ecrt_master_write_slave_alias(ec_master_t *master,
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_deactivate);
EXPORT_SYMBOL(ecrt_master_fetch_sdo_lists);
EXPORT_SYMBOL(ecrt_master_prepare_async_io);
EXPORT_SYMBOL(ecrt_master_sync_io);
EXPORT_SYMBOL(ecrt_master_async_send);

20
master/slave.c
View File

@ -58,6 +58,7 @@ void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
INIT_LIST_HEAD(&slave->eeprom_strings);
INIT_LIST_HEAD(&slave->eeprom_syncs);
INIT_LIST_HEAD(&slave->eeprom_pdos);
INIT_LIST_HEAD(&slave->sdo_dictionary);
}
/*****************************************************************************/
@ -72,6 +73,7 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
ec_eeprom_sync_t *sync, *next_sync;
ec_eeprom_pdo_t *pdo, *next_pdo;
ec_eeprom_pdo_entry_t *entry, *next_ent;
ec_sdo_t *sdo, *next_sdo;
// Alle Strings freigeben
list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {
@ -103,6 +105,13 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
if (slave->eeprom_name) kfree(slave->eeprom_name);
if (slave->eeprom_group) kfree(slave->eeprom_group);
if (slave->eeprom_desc) kfree(slave->eeprom_desc);
// Alle SDOs freigeben
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
if (sdo->name) kfree(sdo->name);
kfree(sdo);
}
}
/*****************************************************************************/
@ -792,6 +801,7 @@ 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_sdo_t *sdo;
int first;
EC_INFO("x-- EtherCAT slave information ---------------\n");
@ -892,6 +902,16 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
}
}
if (!list_empty(&slave->sdo_dictionary)) {
EC_INFO("| SDO-Dictionary:\n");
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
EC_INFO("| 0x%04X: \"%s\"\n", sdo->index,
sdo->name ? sdo->name : "");
EC_INFO("| Type 0x%04X, subindices: %i, features: 0x%02X\n",
sdo->type, sdo->max_subindex, sdo->features);
}
}
EC_INFO("x---------------------------------------------\n");
}

19
master/slave.h
View File

@ -145,6 +145,23 @@ ec_eeprom_pdo_entry_t;
/*****************************************************************************/
/**
CANopen-SDO.
*/
typedef struct
{
struct list_head list;
uint16_t index;
uint16_t type;
uint8_t max_subindex;
uint8_t features;
char *name;
}
ec_sdo_t;
/*****************************************************************************/
/**
EtherCAT-Slave
*/
@ -187,6 +204,8 @@ struct ec_slave
char *eeprom_name; /**< Slave-Name laut Hersteller */
char *eeprom_group; /**< Slave-Beschreibung laut Hersteller */
char *eeprom_desc; /**< Slave-Beschreibung laut Hersteller */
struct list_head sdo_dictionary; /**< SDO-Verzeichnis des Slaves */
};
/*****************************************************************************/

27
mini/mini.c
View File

@ -94,7 +94,7 @@ int __init init_mini_module(void)
printk(KERN_INFO "=== Starting Minimal EtherCAT environment... ===\n");
if ((master = ecrt_request_master(0)) == NULL) {
printk(KERN_ERR "Error requesting master 0!\n");
printk(KERN_ERR "Requesting master 0 failed!\n");
goto out_return;
}
@ -104,24 +104,29 @@ int __init init_mini_module(void)
if (!(domain1 = ecrt_master_create_domain(master)))
{
printk(KERN_ERR "EtherCAT: Could not register domain!\n");
printk(KERN_ERR "Domain creation failed!\n");
goto out_release_master;
}
printk(KERN_INFO "Registering domain fields...\n");
if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
printk(KERN_ERR "EtherCAT: Could not register field!\n");
printk(KERN_ERR "Field registration failed!\n");
goto out_release_master;
}
printk(KERN_INFO "Activating master...\n");
if (ecrt_master_activate(master)) {
printk(KERN_ERR "EtherCAT: Could not activate master!\n");
printk(KERN_ERR "Failed to activate master!\n");
goto out_release_master;
}
if (ecrt_master_fetch_sdo_lists(master)) {
printk(KERN_ERR "Failed to fetch SDO lists!\n");
goto out_deactivate;
}
//ecrt_master_debug(master, 2);
#if 0
@ -134,7 +139,7 @@ int __init init_mini_module(void)
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");
printk(KERN_ERR "Failed to configure SSI slave!\n");
goto out_deactivate;
}
#endif
@ -144,7 +149,7 @@ int __init init_mini_module(void)
#if 0
printk(KERN_INFO "Writing alias...\n");
if (ecrt_master_write_slave_alias(master, "0", 0xBEEF)) {
printk(KERN_ERR "EtherCAT: Failed to write alias!\n");
printk(KERN_ERR "Failed to write alias!\n");
goto out_deactivate;
}
#endif
@ -162,17 +167,12 @@ int __init init_mini_module(void)
add_timer(&timer);
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
#if 0
out_deactivate:
ecrt_master_deactivate(master);
#endif
out_release_master:
ecrt_release_master(master);
out_return:
return -1;
}
@ -183,12 +183,9 @@ void __exit cleanup_mini_module(void)
{
printk(KERN_INFO "=== Stopping Minimal EtherCAT environment... ===\n");
if (master)
{
if (master) {
del_timer_sync(&timer);
printk(KERN_INFO "Deactivating master...\n");
ecrt_master_deactivate(master);
ecrt_release_master(master);
}

13
rt/msr_module.c
View File

@ -188,8 +188,6 @@ int __init init_rt_module(void)
goto out_msr_cleanup;
}
ecrt_master_print(master);
printk(KERN_INFO "Registering domains...\n");
if (!(domain1 = ecrt_master_create_domain(master))) {
@ -216,24 +214,27 @@ int __init init_rt_module(void)
printk(KERN_INFO "Activating master...\n");
//ecrt_master_debug(master, 2);
if (ecrt_master_activate(master)) {
printk(KERN_ERR "Could not activate master!\n");
goto out_release_master;
}
//ecrt_master_debug(master, 2);
if (ecrt_master_fetch_sdo_lists(master)) {
printk(KERN_ERR "Failed to fetch SDO lists!\n");
goto out_deactivate;
}
//ecrt_master_debug(master, 0);
ecrt_master_print(master);
#if 1
if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
printk(KERN_INFO "Software-version: %u\n", version);
#endif
#if 1
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) ||