From 368936bb284ff10712c2fcce46bfc32d4ee77ba2 Mon Sep 17 00:00:00 2001 From: Florian Pose Date: Fri, 6 Jan 2006 16:01:06 +0000 Subject: [PATCH] Sinnvolle Meldung verlorener Frames, Zustand antwortender Slaves. --- drivers/ec_domain.c | 1 + drivers/ec_domain.h | 1 + drivers/ec_master.c | 62 ++++++++++++++++++++++++++++++++++++++------- drivers/ec_master.h | 4 +++ rt/msr_module.c | 38 +++++++++++++-------------- 5 files changed, 76 insertions(+), 30 deletions(-) diff --git a/drivers/ec_domain.c b/drivers/ec_domain.c index 2e3a6759..35e4c54a 100644 --- a/drivers/ec_domain.c +++ b/drivers/ec_domain.c @@ -27,6 +27,7 @@ void EtherCAT_domain_init(EtherCAT_domain_t *dom) dom->data = NULL; dom->data_size = 0; dom->logical_offset = 0; + dom->response_count = 0; } /*****************************************************************************/ diff --git a/drivers/ec_domain.h b/drivers/ec_domain.h index da3ac0fd..3bff745f 100644 --- a/drivers/ec_domain.h +++ b/drivers/ec_domain.h @@ -32,6 +32,7 @@ typedef struct EtherCAT_domain unsigned char *data; /**< Zeiger auf Speicher mit Prozessdaten */ unsigned int data_size; /**< Größe des Prozessdatenspeichers */ unsigned int logical_offset; /**< Logische Basisaddresse */ + unsigned int response_count; /**< Anzahl antwortender Slaves */ } EtherCAT_domain_t; diff --git a/drivers/ec_master.c b/drivers/ec_master.c index 9dc81a68..db0088f2 100644 --- a/drivers/ec_master.c +++ b/drivers/ec_master.c @@ -34,6 +34,8 @@ void EtherCAT_master_init(EtherCAT_master_t *master) master->domain_count = 0; master->debug_level = 0; master->bus_time = 0; + master->frames_lost = 0; + master->t_lost_output = 0; } /*****************************************************************************/ @@ -289,8 +291,8 @@ int EtherCAT_simple_receive(EtherCAT_master_t *master, master->rx_data_length = (unsigned int) ret; if (unlikely(master->rx_data_length < 2)) { - printk(KERN_ERR "EtherCAT: Received frame with incomplete" - " EtherCAT header!\n"); + printk(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT" + " header!\n"); output_debug_data(master); return -1; } @@ -332,6 +334,10 @@ int EtherCAT_simple_receive(EtherCAT_master_t *master, cmd->working_counter = ((master->rx_data[length + 2 + 10] & 0xFF) | ((master->rx_data[length + 2 + 11] & 0xFF) << 8)); + + if (unlikely(master->debug_level > 1)) { + output_debug_data(master); + } } else { @@ -539,7 +545,8 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master, } } - // Calculate domain sizes + // Calculate domain sizes and addresses + offset = 0; for (i = 0; i < master->domain_count; i++) { @@ -547,7 +554,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master, dom->logical_offset = offset; - // For every slave in the list + // Calculate size of the domain size = 0; for (j = 0; j < slave_count; j++) { if (slaves[j].domain == dom->number) { @@ -563,16 +570,16 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master, if (!(dom->data = (unsigned char *) kmalloc(sizeof(unsigned char) * size, GFP_KERNEL))) { - printk(KERN_ERR "EtherCAT: Could not allocate" - " %i bytes of domain data.\n", size); + printk(KERN_ERR "EtherCAT: Could not allocate %i bytes of domain" + " data.\n", size); return -1; } dom->data_size = size; memset(dom->data, 0x00, size); - printk(KERN_INFO "EtherCAT: Domain %i: %i Bytes of process data.\n", - dom->number, size); + printk(KERN_INFO "EtherCAT: Domain %i: Offset 0x%04X, %i Bytes of" + " process data.\n", dom->number, dom->logical_offset, size); // Set logical addresses and data pointers of domain slaves size = 0; @@ -581,6 +588,10 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master, slaves[j].process_data = dom->data + size; slaves[j].logical_address = dom->logical_offset + size; size += slaves[j].desc->process_data_size; + + printk(KERN_INFO "EtherCAT: Slave %i: Logical Address 0x%04X, %i" + " bytes of process data.\n", j, slaves[j].logical_address, + slaves[j].desc->process_data_size); } } @@ -1004,6 +1015,9 @@ int EtherCAT_process_data_cycle(EtherCAT_master_t *master, unsigned int domain, EtherCAT_domain_t *dom; unsigned long start_ticks, end_ticks, timeout_ticks; + ecat_output_lost_frames(master); // Evtl. verlorene Frames ausgeben + + // Domäne bestimmen dom = NULL; for (i = 0; i < master->domain_count; i++) { if (master->domains[i].number == domain) { @@ -1041,7 +1055,9 @@ int EtherCAT_process_data_cycle(EtherCAT_master_t *master, unsigned int domain, master->bus_time = (end_ticks - start_ticks) * 1000 / cpu_khz; if (unlikely(end_ticks - start_ticks >= timeout_ticks)) { - printk(KERN_ERR "EtherCAT: Timeout while receiving process data!\n"); + master->dev->state = ECAT_DS_READY; + master->frames_lost++; + ecat_output_lost_frames(master); return -1; } @@ -1055,6 +1071,12 @@ int EtherCAT_process_data_cycle(EtherCAT_master_t *master, unsigned int domain, return -1; } + if (dom->command.working_counter != dom->response_count) { + dom->response_count = dom->command.working_counter; + printk(KERN_INFO "EtherCAT: Domain %i State change - %i slaves" + " responding.\n", dom->number, dom->response_count); + } + // Daten vom Kommando in den Prozessdatenspeicher kopieren memcpy(dom->data, dom->command.data, dom->data_size); @@ -1098,6 +1120,28 @@ void output_debug_data(const EtherCAT_master_t *master) /*****************************************************************************/ +/** + Gibt von Zeit zu Zeit die Anzahl verlorener Frames aus. + + @param master EtherCAT-Master +*/ + +void ecat_output_lost_frames(EtherCAT_master_t *master) +{ + unsigned long int t; + + if (master->frames_lost) { + rdtscl(t); + if ((t - master->t_lost_output) / cpu_khz > 1000) { + printk(KERN_ERR "EtherCAT: %u frame(s) LOST!\n", master->frames_lost); + master->frames_lost = 0; + master->t_lost_output = t; + } + } +} + +/*****************************************************************************/ + EXPORT_SYMBOL(EtherCAT_master_init); EXPORT_SYMBOL(EtherCAT_master_clear); EXPORT_SYMBOL(EtherCAT_master_open); diff --git a/drivers/ec_master.h b/drivers/ec_master.h index 5b00117b..3b51d061 100644 --- a/drivers/ec_master.h +++ b/drivers/ec_master.h @@ -40,6 +40,9 @@ struct EtherCAT_master unsigned int domain_count; int debug_level; /**< Debug-Level im Master-Code */ unsigned int bus_time; /**< Letzte Bus-Zeit in Mikrosekunden */ + unsigned int frames_lost; /**< Anzahl verlorene Frames */ + unsigned long t_lost_output; /*<< Timer-Ticks bei der letzten Ausgabe von + verlorenen Frames */ }; /*****************************************************************************/ @@ -73,6 +76,7 @@ int EtherCAT_process_data_cycle(EtherCAT_master_t *, unsigned int, // Private functions void output_debug_data(const EtherCAT_master_t *); +void ecat_output_lost_frames(EtherCAT_master_t *); /*****************************************************************************/ diff --git a/rt/msr_module.c b/rt/msr_module.c index b8a14298..6d66792a 100644 --- a/rt/msr_module.c +++ b/rt/msr_module.c @@ -135,23 +135,22 @@ static void msr_controller_run(void) static int ms = 0; static int cnt = 0; static int firstrun = 1; + static unsigned int debug_counter = 0; static int klemme = 0; static int kanal = 0; static int up_down = 0; int wrap = 0; - static unsigned int debug_counter = 0; - unsigned long t1, t2, t3; - unsigned int bustime1, bustime2; - static unsigned long lt = 0; - - rdtscl(t1); + unsigned long t_bus_start, t_bus_end; // Prozessdaten lesen msr_jitter_run(MSR_ABTASTFREQUENZ); - if (firstrun) klemme = next2004(&wrap); + if (firstrun) { + klemme = next2004(&wrap); + firstrun = 0; + } ms++; ms %= 1000; @@ -176,21 +175,26 @@ static void msr_controller_run(void) EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down); } + if (debug_counter == 0) { + ecat_master->debug_level = 0; + } + // Prozessdaten schreiben - rdtscl(t2); + rdtscl(t_bus_start); if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0) ecat_timeouts++; - bustime1 = ecat_master->bus_time; if (EtherCAT_process_data_cycle(ecat_master, 1, 40) < 0) ecat_timeouts++; - bustime2 = ecat_master->bus_time; - rdtscl(t3); + rdtscl(t_bus_end); + ecat_bus_time = TSC2US(t_bus_start, t_bus_end); - ecat_bus_time = TSC2US(t2, t3); + if (debug_counter == 0) { + ecat_master->debug_level = 0; + } // Daten lesen und skalieren #ifdef USE_MSR_LIB @@ -198,16 +202,8 @@ static void msr_controller_run(void) dig1 = EtherCAT_read_value(&ecat_slaves[2], 0); #endif - if (debug_counter == MSR_ABTASTFREQUENZ) { - printk(KERN_DEBUG "%lu: %luŽµs + %uŽµs + %uŽµs = %luŽµs\n", TSC2US(lt, t1), - TSC2US(t1, t2), bustime1, bustime2, TSC2US(t1, t3)); - debug_counter = 0; - } - - lt = t1; - - firstrun = 0; debug_counter++; + if (debug_counter >= MSR_ABTASTFREQUENZ * 5) debug_counter = 0; } /******************************************************************************