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ethercat
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Restliche EEPROM-Daten ausgelesen.

This commit is contained in:
Florian Pose 2006-03-22 11:42:44 +00:00
parent b1d2985464
commit 2c69194a1a
2 changed files with 254 additions and 77 deletions
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239
master/slave.c
View File

@ -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 @@ void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
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_init(ec_slave_t *slave, /**< EtherCAT-Slave */
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_sii_write(ec_slave_t *slave,
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 @@ int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT-Slave */)
}
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 @@ int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT-Slave */)
}
}
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 @@ int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT-Slave */
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);
@ -448,26 +467,37 @@ int ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT-Slave */
/*****************************************************************************/
/**
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 @@ void ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT-Slave */
Holt die Daten einer TXPDO-Kategorie.
*/
void ec_slave_fetch_txpdo(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;
}
/**
Holt die Daten einer RXPDO-Kategorie.
*/
INIT_LIST_HEAD(&pdo->entries);
pdo->type = pdo_type;
void ec_slave_fetch_rxpdo(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategorie-Daten */
)
{
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 @@ void ec_slave_fetch_rxpdo(ec_slave_t *slave, /**< EtherCAT-Slave */
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 @@ int ec_slave_set_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
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 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
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");
}

92
master/slave.h
View File

@ -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 @@ ec_fmmu_t;
/*****************************************************************************/
/**
EEPROM-String.
String im EEPROM eines EtherCAT-Slaves.
*/
typedef struct
@ -61,7 +62,70 @@ typedef struct
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 @@ struct ec_slave
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 */