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ethercat
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TODO.

This commit is contained in:
Florian Pose 2009-07-10 09:36:50 +00:00
parent 3127d2c82a
commit 36ff1cb8fa
5 changed files with 141 additions and 38 deletions
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1
TODO
View File

@ -21,6 +21,7 @@ Version 1.5.0:
- Check if register 0x0980 is working, to avoid clearing it when
configuring.
- Create an interface to query the System Time Difference registers.
* Remove byte-swapping functions from user space.
* EoE:
- Only execute one EoE handler per cycle.
- Replace locking callbacks.

68
include/ecrt.h
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@ -192,6 +192,22 @@ typedef struct {
/*****************************************************************************/
#ifndef __KERNEL__
/** Master information.
*
* This is used as an output parameter of ecrt_master().
*
* \see ecrt_master().
*/
typedef struct {
unsigned int slave_count; /**< Number of slaves in the bus. */
unsigned int link_up : 1; /**< \a true, if the network link is up. */
uint64_t app_time; /**< Application time. */
} ec_master_info_t;
/*****************************************************************************/
/** Slave information.
*
* This is used as an output parameter of ecrt_master_slave().
@ -213,6 +229,8 @@ typedef struct {
char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */
} ec_slave_info_t;
#endif // #ifndef __KERNEL__
/*****************************************************************************/
/** Domain working counter interpretation.
@ -374,6 +392,52 @@ void ecrt_release_master(
ec_master_t *master /**< EtherCAT master */
);
#ifndef __KERNEL__
/** Opens an EtherCAT master for userspace access.
*
* This function has to be the first function an application has to call to
* use EtherCAT. The function takes the index of the master as its argument.
* The first master has index 0, the n-th master has index n - 1. The number
* of masters has to be specified when loading the master module.
*
* \return Pointer to the opened master, otherwise \a NULL.
*/
ec_master_t *ecrt_open_master(
unsigned int master_index /**< Index of the master to request. */
);
/** Reserves an EtherCAT master for realtime operation.
*
* Before an application can use PDO/domain registration functions or SDO
* request functions on the master, it has to reserve one for exclusive use.
*
* \return 0 in case of success, else < 0
*
*/
int ecrt_reserve_master(
ec_master_t *master /**< EtherCAT master */
);
/** Obtains master information.
*
* No memory is allocated on the heap in
* this function.
*
* \attention The pointer to this structure must point to a valid variable.
*
* \return 0 in case of success, else < 0
*/
int ecrt_master(
ec_master_t *master, /**< EtherCAT master */
ec_master_info_t *master_info /**< Structure that will output the
information */
);
#endif // #ifndef __KERNEL__
/******************************************************************************
* Master methods
*****************************************************************************/
@ -468,7 +532,7 @@ int ecrt_master_slave(
information */
);
#endif /* ifndef __KERNEL__ */
#endif /* #ifndef __KERNEL__ */
/** Finishes the configuration phase and prepares for cyclic operation.
*
@ -603,7 +667,7 @@ int ecrt_slave_sdo_upload(
uint32_t *abort_code /**< Abort code of the SDO upload. */
);
#endif /* ifndef __KERNEL__ */
#endif /* #ifndef __KERNEL__ */
/******************************************************************************
* Slave configuration methods

66
lib/common.c
View File

@ -50,37 +50,15 @@ unsigned int ecrt_version_magic(void)
/*****************************************************************************/
#define MAX_PATH_LEN 64
ec_master_t *ecrt_request_master(unsigned int master_index)
{
char path[MAX_PATH_LEN];
ec_master_t *master;
master = malloc(sizeof(ec_master_t));
if (!master) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
master->process_data = NULL;
master->process_data_size = 0;
snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
master->fd = open(path, O_RDWR);
if (master->fd == -1) {
fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
free(master);
return 0;
}
if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
fprintf(stderr, "Failed to request master %u: %s\n",
master_index, strerror(errno));
close(master->fd);
free(master);
return 0;
ec_master_t *master = ecrt_open_master(master_index);
if (master) {
if (ecrt_master_reserve(master) < 0) {
close(master->fd);
free(master);
master = 0;
}
}
return master;
@ -88,6 +66,36 @@ ec_master_t *ecrt_request_master(unsigned int master_index)
/*****************************************************************************/
#define MAX_PATH_LEN 64
ec_master_t *ecrt_open_master(unsigned int master_index)
{
char path[MAX_PATH_LEN];
ec_master_t *master;
master = malloc(sizeof(ec_master_t));
if (!master) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
master->process_data = NULL;
master->process_data_size = 0;
snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
master->fd = open(path, O_RDWR);
if (master->fd == -1) {
fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
free(master);
return 0;
}
return master;
}
/*****************************************************************************/
void ecrt_release_master(ec_master_t *master)
{
if (master->process_data) {

30
lib/master.c
View File

@ -42,6 +42,17 @@
/*****************************************************************************/
int ecrt_master_reserve(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
fprintf(stderr, "Failed to reserve master: %s\n",
strerror(errno));
return -1;
}
}
/*****************************************************************************/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
{
ec_domain_t *domain;
@ -101,6 +112,25 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
return sc;
}
/*****************************************************************************/
int ecrt_master(ec_master_t* master,
ec_master_info_t *master_info)
{
ec_ioctl_master_t data;
if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
fprintf(stderr, "Failed to get master info: %s\n",
strerror(errno));
return -1;
}
master_info->slave_count = data.slave_count;
master_info->link_up = data.devices[0].link_state;
master_info->app_time = data.app_time;
return 0;
}
/*****************************************************************************/
int ecrt_master_slave(ec_master_t *master, uint16_t position,

14
master/fsm_coe.c
View File

@ -1105,7 +1105,7 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
if (slave->master->debug_level) {
EC_DBG("Expedited download request:\n");
ec_print_data(data, 10);
ec_print_data(data, 10 + request->data_size);
}
}
else { // request->data_size > 4, use normal transfer type
@ -1662,7 +1662,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
data_size, fsm->complete_size);
data = ec_slave_mbox_prepare_send(slave, datagram,
0x03, 3);
0x03, 10);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@ -1674,7 +1674,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (master->debug_level) {
EC_DBG("Upload segment request:\n");
ec_print_data(data, 3);
ec_print_data(data, 10);
}
fsm->retries = EC_FSM_RETRIES;
@ -1876,7 +1876,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
last_segment = EC_READ_U8(data + 2) & 0x01;
seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
if (rec_size > 10) {
data_size = rec_size - 10;
data_size = rec_size - 3; // Header of segment upload is smaller then normal upload
} else { // == 10
/* seg_size contains the number of trailing bytes to ignore. */
data_size = rec_size - seg_size;
@ -1890,13 +1890,13 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
memcpy(request->data + request->data_size, data + 10, data_size);
memcpy(request->data + request->data_size, data + 3, data_size);
request->data_size += data_size;
if (!last_segment) {
fsm->toggle = !fsm->toggle;
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3);
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@ -1908,7 +1908,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (master->debug_level) {
EC_DBG("Upload segment request:\n");
ec_print_data(data, 3);
ec_print_data(data, 10);
}
fsm->retries = EC_FSM_RETRIES;