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ethercat
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Mailbox-Interface ausgelagert, erster EOE-Ansatz.

This commit is contained in:
Florian Pose 2006-04-03 14:12:45 +00:00
parent 8306f3e3c1
commit 4b4092fd7e
12 changed files with 729 additions and 214 deletions
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2
master/Makefile
View File

@ -16,7 +16,7 @@ ifneq ($(KERNELRELEASE),)
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o slave.o command.o types.o \
domain.o canopen.o
domain.o mailbox.o canopen.o ethernet.o
EXTRA_CFLAGS := -DSVNREV=$(shell svnversion $(src)) -DUSER=$(USER)

60
master/canopen.c
View File

@ -13,6 +13,7 @@
#include <linux/module.h>
#include "master.h"
#include "mailbox.h"
/*****************************************************************************/
@ -51,18 +52,15 @@ int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
size_t rec_size;
uint8_t *data;
if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 6))) return -1;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
| 0x2 << 5)); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
if (unlikely(ec_master_simple_io(slave->master))) {
EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
return -1;
}
if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@ -107,7 +105,8 @@ int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
return -1;
}
if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 0x0A))) return -1;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size specified
| 0x1 << 1 // expedited transfer
@ -117,12 +116,8 @@ int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
EC_WRITE_U8 (data + 5, sdo_subindex);
memcpy(data + 6, sdo_data, size);
if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
if (unlikely(ec_master_simple_io(slave->master))) {
EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
return -1;
}
if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@ -164,17 +159,14 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
size_t rec_size, data_size;
uint32_t complete_size;
if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 6))) return -1;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
if (unlikely(ec_master_simple_io(slave->master))) {
EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
return -1;
}
if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@ -232,19 +224,22 @@ int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
ec_sdo_t *sdo;
uint16_t sdo_index;
if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 8))) return -1;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
if (unlikely(ec_master_simple_io(slave->master))) {
EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return -1;
}
do {
if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
@ -302,20 +297,14 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 8))) return -1;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, sdo->index); // SDO index
if (unlikely(ec_master_simple_io(slave->master))) {
EC_ERR("Mailbox sending failed on slave %i!\n",
slave->ring_position);
return -1;
}
if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
return -1;
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
@ -386,8 +375,9 @@ int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT-Slave */
ec_sdo_entry_t *entry;
for (i = 1; i <= subindices; i++) {
if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 10)))
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
EC_WRITE_U8 (data + 3, 0x00);
@ -395,14 +385,8 @@ int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT-Slave */
EC_WRITE_U16(data + 6, sdo->index); // SDO index
EC_WRITE_U8 (data + 8, i); // SDO subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
if (unlikely(ec_master_simple_io(slave->master))) {
EC_ERR("Mailbox sending failed on slave %i!\n",
slave->ring_position);
return -1;
}
if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
return -1;
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response

97
master/ethernet.c Normal file
View File

@ -0,0 +1,97 @@
/******************************************************************************
*
* e t h e r n e t . c
*
* Ethernet-over-EtherCAT (EoE)
*
* $Id$
*
*****************************************************************************/
#include "../include/ecrt.h"
#include "globals.h"
#include "master.h"
#include "slave.h"
#include "mailbox.h"
#include "ethernet.h"
/*****************************************************************************/
void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
{
eoe->slave = slave;
eoe->rx_state = EC_EOE_IDLE;
}
/*****************************************************************************/
void ec_eoe_clear(ec_eoe_t *eoe)
{
}
/*****************************************************************************/
void ec_eoe_run(ec_eoe_t *eoe)
{
uint8_t *data;
ec_master_t *master;
size_t rec_size;
master = eoe->slave->master;
if (eoe->rx_state == EC_EOE_IDLE) {
ec_slave_mbox_prepare_check(eoe->slave);
ec_master_queue_command(master, &eoe->slave->mbox_command);
eoe->rx_state = EC_EOE_CHECKING;
return;
}
if (eoe->rx_state == EC_EOE_CHECKING) {
if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
master->stats.eoe_errors++;
eoe->rx_state = EC_EOE_IDLE;
return;
}
if (!ec_slave_mbox_check(eoe->slave)) {
eoe->rx_state = EC_EOE_IDLE;
return;
}
ec_slave_mbox_prepare_fetch(eoe->slave);
ec_master_queue_command(master, &eoe->slave->mbox_command);
eoe->rx_state = EC_EOE_FETCHING;
return;
}
if (eoe->rx_state == EC_EOE_FETCHING) {
EC_DBG("EOE fetching\n");
if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
master->stats.eoe_errors++;
eoe->rx_state = EC_EOE_IDLE;
return;
}
if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
master->stats.eoe_errors++;
eoe->rx_state = EC_EOE_IDLE;
return;
}
EC_DBG("EOE received: %i\n", rec_size);
eoe->rx_state = EC_EOE_IDLE;
return;
}
}
/*****************************************************************************/
void ec_eoe_print(const ec_eoe_t *eoe)
{
EC_INFO(" EoE slave %i\n", eoe->slave->ring_position);
EC_INFO(" RX State %i\n", eoe->rx_state);
}
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/

51
master/ethernet.h Normal file
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@ -0,0 +1,51 @@
/******************************************************************************
*
* e t h e r n e t . h
*
* Ethernet-over-EtherCAT (EoE)
*
* $Id$
*
*****************************************************************************/
#include <linux/list.h>
#include "../include/ecrt.h"
#include "globals.h"
#include "slave.h"
#include "command.h"
/*****************************************************************************/
typedef enum
{
EC_EOE_IDLE,
EC_EOE_CHECKING,
EC_EOE_FETCHING
}
ec_eoe_state_t;
/*****************************************************************************/
typedef struct
{
struct list_head list;
ec_slave_t *slave;
ec_eoe_state_t rx_state;
}
ec_eoe_t;
/*****************************************************************************/
void ec_eoe_init(ec_eoe_t *, ec_slave_t *);
void ec_eoe_clear(ec_eoe_t *);
void ec_eoe_run(ec_eoe_t *);
void ec_eoe_print(const ec_eoe_t *);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/

377
master/mailbox.c Normal file
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@ -0,0 +1,377 @@
/******************************************************************************
*
* m a i l b o x . c
*
* Mailbox-Funktionen
*
* $Id$
*
*****************************************************************************/
#include <linux/slab.h>
#include <linux/delay.h>
#include "mailbox.h"
#include "command.h"
#include "master.h"
/*****************************************************************************/
/**
Bereitet ein Mailbox-Send-Kommando vor.
*/
uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *slave, /**< Slave */
uint8_t type, /**< Mailbox-Protokoll */
size_t size /**< Datengröße */
)
{
ec_command_t *command = &slave->mbox_command;
size_t total_size;
if (unlikely(!slave->sii_mailbox_protocols)) {
EC_ERR("Slave %i does not support mailbox communication!\n",
slave->ring_position);
return NULL;
}
total_size = size + 6;
if (unlikely(total_size > slave->sii_rx_mailbox_size)) {
EC_ERR("Data size does not fit in mailbox!\n");
return NULL;
}
if (ec_command_npwr(command, slave->station_address,
slave->sii_rx_mailbox_offset,
slave->sii_rx_mailbox_size))
return NULL;
EC_WRITE_U16(command->data, size); // Mailbox service data length
EC_WRITE_U16(command->data + 2, slave->station_address); // Station address
EC_WRITE_U8 (command->data + 4, 0x00); // Channel & priority
EC_WRITE_U8 (command->data + 5, type); // Underlying protocol type
return command->data + 6;
}
/*****************************************************************************/
/**
Bereitet ein Kommando zum Abfragen des Mailbox-Zustandes vor.
*/
int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< Slave */)
{
ec_command_t *command = &slave->mbox_command;
// FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
if (ec_command_nprd(command, slave->station_address, 0x808, 8))
return -1;
return 0;
}
/*****************************************************************************/
/**
Liest den Mailbox-Zustand aus einem empfangenen Kommando.
*/
int ec_slave_mbox_check(const ec_slave_t *slave /**< Slave */)
{
return EC_READ_U8(slave->mbox_command.data + 5) & 8 ? 1 : 0;
}
/*****************************************************************************/
/**
Bereitet ein Kommando zum Laden von Daten von der Mailbox vor.
*/
int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< Slave */)
{
ec_command_t *command = &slave->mbox_command;
if (ec_command_nprd(command, slave->station_address,
slave->sii_tx_mailbox_offset,
slave->sii_tx_mailbox_size)) return -1;
return 0;
}
/*****************************************************************************/
/**
Verarbeitet empfangene Mailbox-Daten.
*/
uint8_t *ec_slave_mbox_fetch(ec_slave_t *slave, /**< Slave */
uint8_t type, /**< Protokoll */
size_t *size /**< Größe der empfangenen
Daten */
)
{
ec_command_t *command = &slave->mbox_command;
size_t data_size;
if ((EC_READ_U8(command->data + 5) & 0x0F) != type) {
EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
" slave %i!\n", EC_READ_U8(command->data + 5), type,
slave->ring_position);
return NULL;
}
if ((data_size = EC_READ_U16(command->data)) >
slave->sii_tx_mailbox_size - 6) {
EC_ERR("Currupt mailbox response detected!\n");
return NULL;
}
*size = data_size;
return command->data + 6;
}
/*****************************************************************************/
/**
Sendet und wartet auf den Empfang eines Mailbox-Kommandos.
*/
uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< Slave */
size_t *size /**< Größe der gelesenen
Daten */
)
{
uint8_t type;
ec_command_t *command;
command = &slave->mbox_command;
type = EC_READ_U8(command->data + 5);
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return NULL;
}
return ec_slave_mbox_simple_receive(slave, type, size);
}
/*****************************************************************************/
/**
Wartet auf den Empfang eines Mailbox-Kommandos.
*/
uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< Slave */
uint8_t type, /**< Protokoll */
size_t *size /**< Größe der gelesenen
Daten */
)
{
cycles_t start, end, timeout;
ec_command_t *command;
command = &slave->mbox_command;
start = get_cycles();
timeout = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
if (ec_slave_mbox_prepare_check(slave)) return NULL;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return NULL;
}
end = get_cycles();
if (ec_slave_mbox_check(slave))
break; // Proceed with receiving data
if ((end - start) >= timeout) {
EC_ERR("Mailbox check - Slave %i timed out.\n",
slave->ring_position);
return NULL;
}
udelay(100);
}
if (ec_slave_mbox_prepare_fetch(slave)) return NULL;
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
return NULL;
}
if (unlikely(slave->master->debug_level) > 1)
EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
/ cpu_khz));
return ec_slave_mbox_fetch(slave, type, size);
}
/*****************************************************************************/
#if 0
/**
Sendet ein Mailbox-Kommando.
*/
int ec_slave_mbox_send(ec_slave_t *slave, /**< EtherCAT-Slave */
uint8_t type, /**< Unterliegendes Protokoll */
const uint8_t *prot_data, /**< Protokoll-Daten */
size_t size /**< Datengröße */
)
{
uint8_t *data;
ec_command_t command;
}
if (!(data = kmalloc(slave->sii_rx_mailbox_size, GFP_KERNEL))) {
EC_ERR("Failed to allocate %i bytes of memory for mailbox data!\n",
slave->sii_rx_mailbox_size);
return -1;
}
memset(data, 0x00, slave->sii_rx_mailbox_size);
EC_WRITE_U16(data, size); // Length of the Mailbox service data
EC_WRITE_U16(data + 2, slave->station_address); // Station address
EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
EC_WRITE_U8 (data + 5, type); // Underlying protocol type
memcpy(data + 6, prot_data, size);
ec_command_init_npwr(&command, slave->station_address,
slave->sii_rx_mailbox_offset,
slave->sii_rx_mailbox_size, data);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
kfree(data);
return -1;
}
kfree(data);
return 0;
}
/*****************************************************************************/
/**
Sendet ein Mailbox-Kommando.
*/
int ec_slave_mailbox_receive(ec_slave_t *slave, /**< EtherCAT-Slave */
uint8_t type, /**< Unterliegendes Protokoll */
uint8_t *prot_data, /**< Protokoll-Daten */
size_t *size /**< Datengröße des Puffers, später
Größe der gelesenen Daten */
)
{
ec_command_t command;
size_t data_size;
cycles_t start, end, timeout;
// Read "written bit" of Sync-Manager
start = get_cycles();
timeout = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
// FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return -1;
}
end = get_cycles();
if (EC_READ_U8(command.data + 5) & 8)
break; // Proceed with received data
if ((end - start) >= timeout) {
EC_ERR("Mailbox check - Slave %i timed out.\n",
slave->ring_position);
return -1;
}
udelay(100);
}
ec_command_init_nprd(&command, slave->station_address,
slave->sii_tx_mailbox_offset,
slave->sii_tx_mailbox_size);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
return -1;
}
if ((EC_READ_U8(command.data + 5) & 0x0F) != type) {
EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
" slave %i!\n", EC_READ_U8(command.data + 5), type,
slave->ring_position);
return -1;
}
if (unlikely(slave->master->debug_level) > 1)
EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
/ cpu_khz));
if ((data_size = EC_READ_U16(command.data)) > *size) {
EC_ERR("Mailbox service data does not fit into buffer (%i > %i).\n",
data_size, *size);
return -1;
}
if (data_size > slave->sii_tx_mailbox_size - 6) {
EC_ERR("Currupt mailbox response detected!\n");
return -1;
}
memcpy(prot_data, command.data + 6, data_size);
*size = data_size;
return 0;
}
/*****************************************************************************/
uint8_t *ec_slave_init_mbox_send_cmd(ec_slave_t *slave, /**< EtherCAT-Slave */
ec_command_t *command, /**< Kommando */
uint8_t type, /**< Protokolltyp */
size_t size /**< Datengröße */
)
{
size_t total_size;
uint8_t *data;
if (unlikely(!slave->sii_mailbox_protocols)) {
EC_ERR("Slave %i does not support mailbox communication!\n",
slave->ring_position);
return NULL;
}
total_size = size + 6;
if (unlikely(total_size > slave->sii_rx_mailbox_size)) {
EC_ERR("Data size does not fit into mailbox of slave %i!\n",
slave->ring_position);
return NULL;
}
data = command->data;
memset(data, 0x00, slave->sii_rx_mailbox_size);
EC_WRITE_U16(data, size); // Length of the Mailbox service data
EC_WRITE_U16(data + 2, slave->station_address); // Station address
EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
EC_WRITE_U8 (data + 5, type); // Underlying protocol type
return data + 6;
}
#endif
/*****************************************************************************/

35
master/mailbox.h Normal file
View File

@ -0,0 +1,35 @@
/******************************************************************************
*
* m a i l b o x . h
*
* Mailbox-Funktionen.
*
* $Id$
*
*****************************************************************************/
#ifndef _EC_MAILBOX_H_
#define _EC_MAILBOX_H_
#include "slave.h"
/*****************************************************************************/
uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *, uint8_t, size_t);
int ec_slave_mbox_prepare_check(ec_slave_t *);
int ec_slave_mbox_check(const ec_slave_t *);
int ec_slave_mbox_prepare_fetch(ec_slave_t *);
uint8_t *ec_slave_mbox_fetch(ec_slave_t *, uint8_t, size_t *);
uint8_t *ec_slave_mbox_simple_io(ec_slave_t *, size_t *);
uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *, uint8_t, size_t *);
/*****************************************************************************/
#endif
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/

83
master/master.c
View File

@ -21,6 +21,7 @@
#include "types.h"
#include "device.h"
#include "command.h"
#include "ethernet.h"
/*****************************************************************************/
@ -35,6 +36,7 @@ void ec_master_init(ec_master_t *master /**< EtherCAT-Master */)
INIT_LIST_HEAD(&master->command_queue);
INIT_LIST_HEAD(&master->domains);
INIT_LIST_HEAD(&master->eoe_slaves);
ec_command_init(&master->simple_command);
ec_command_init(&master->watch_command);
@ -80,6 +82,7 @@ void ec_master_reset(ec_master_t *master
unsigned int i;
ec_command_t *command, *next_c;
ec_domain_t *domain, *next_d;
ec_eoe_t *eoe, *next_eoe;
// Alle Slaves entfernen
if (master->slaves) {
@ -104,6 +107,13 @@ void ec_master_reset(ec_master_t *master
kfree(domain);
}
// EOE-Liste leeren
list_for_each_entry_safe(eoe, next_eoe, &master->domains, list) {
list_del(&eoe->list);
ec_eoe_clear(eoe);
kfree(eoe);
}
master->command_index = 0;
master->debug_level = 0;
master->timeout = 100; // us
@ -372,13 +382,13 @@ void ec_master_receive(ec_master_t *master, /**< EtherCAT-Master */
\return 0 bei Erfolg, sonst < 0
*/
int ec_master_simple_io(ec_master_t *master /**< EtherCAT-Master */)
int ec_master_simple_io(ec_master_t *master, /**< EtherCAT-Master */
ec_command_t *command /**< Kommando */
)
{
unsigned int response_tries_left;
ec_command_t *command;
response_tries_left = 10;
command = &master->simple_command;
while (1)
{
@ -425,6 +435,7 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)
ec_slave_ident_t *ident;
unsigned int i;
ec_command_t *command;
ec_eoe_t *eoe;
if (master->slaves || master->slave_count) {
EC_ERR("Slave scan already done!\n");
@ -435,7 +446,7 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)
// Determine number of slaves on bus
if (ec_command_brd(command, 0x0000, 4)) return -1;
if (unlikely(ec_master_simple_io(master))) return -1;
if (unlikely(ec_master_simple_io(master, command))) return -1;
master->slave_count = command->working_counter;
EC_INFO("Found %i slaves on bus.\n", master->slave_count);
@ -465,7 +476,7 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)
if (ec_command_apwr(command, slave->ring_position,
0x0010, sizeof(uint16_t))) return -1;
EC_WRITE_U16(command->data, slave->station_address);
if (unlikely(ec_master_simple_io(master))) {
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Writing station address failed on slave %i!\n", i);
return -1;
}
@ -488,6 +499,17 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)
EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at"
" position %i.\n", slave->sii_vendor_id,
slave->sii_product_code, i);
// Does the slave support EoE?
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
if (!(eoe = kmalloc(sizeof(ec_eoe_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for EoE-Object.\n");
return -1;
}
ec_eoe_init(eoe, slave);
list_add_tail(&eoe->list, &master->eoe_slaves);
}
}
return 0;
@ -525,6 +547,10 @@ void ec_master_output_stats(ec_master_t *master /**< EtherCAT-Master */)
EC_WARN("%i command(s) UNMATCHED!\n", master->stats.unmatched);
master->stats.unmatched = 0;
}
if (master->stats.eoe_errors) {
EC_WARN("%i EOE ERROR(S)!\n", master->stats.eoe_errors);
master->stats.eoe_errors = 0;
}
master->stats.t_last = t_now;
}
}
@ -615,7 +641,8 @@ ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
if (alias_requested) {
for (i = alias_slave_index + 1; i < master->slave_count; i++) {
slave = master->slaves + i;
if (!slave->type || slave->type->bus_coupler) break;
if (!slave->type ||
slave->type->special == EC_TYPE_BUS_COUPLER) break;
if (i - alias_slave_index == second) return slave;
}
EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
@ -630,7 +657,7 @@ ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
for (i = 0; i < master->slave_count; i++, slave_idx++) {
slave = master->slaves + i;
if (!slave->type) continue;
if (slave->type->bus_coupler) {
if (slave->type->special == EC_TYPE_BUS_COUPLER) {
coupler_idx++;
slave_idx = 0;
}
@ -845,7 +872,7 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
EC_FMMU_SIZE * slave->base_fmmu_count))
return -1;
memset(command->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
if (unlikely(ec_master_simple_io(master))) {
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Resetting FMMUs failed on slave %i!\n",
slave->ring_position);
return -1;
@ -858,7 +885,7 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
EC_SYNC_SIZE * slave->base_sync_count))
return -1;
memset(command->data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
if (unlikely(ec_master_simple_io(master))) {
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Resetting sync managers failed on slave %i!\n",
slave->ring_position);
return -1;
@ -874,7 +901,7 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE))
return -1;
ec_sync_config(sync, command->data);
if (unlikely(ec_master_simple_io(master))) {
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
j, slave->ring_position);
return -1;
@ -887,7 +914,7 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
0x800 + eeprom_sync->index * EC_SYNC_SIZE,
EC_SYNC_SIZE)) return -1;
ec_eeprom_sync_config(eeprom_sync, command->data);
if (unlikely(ec_master_simple_io(master))) {
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting sync manager %i failed on slave %i!\n",
eeprom_sync->index, slave->ring_position);
return -1;
@ -903,8 +930,8 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
if (!type) continue;
// Slaves that are not registered are only brought into PREOP
// state -> nice blinking and mailbox comm. possible
if (!slave->registered && !slave->type->bus_coupler) {
// state -> nice blinking and mailbox communication possible
if (!slave->registered && !slave->type->special) {
EC_WARN("Slave %i was not registered!\n", slave->ring_position);
continue;
}
@ -917,7 +944,7 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE))
return -1;
ec_fmmu_config(fmmu, command->data);
if (unlikely(ec_master_simple_io(master))) {
if (unlikely(ec_master_simple_io(master, command))) {
EC_ERR("Setting FMMU %i failed on slave %i!\n",
j, slave->ring_position);
return -1;
@ -1147,6 +1174,9 @@ void ecrt_master_run(ec_master_t *master /**< EtherCAT-Master */)
// Watchdog-Kommando
ec_master_process_watch_command(master);
ec_master_queue_command(master, &master->watch_command);
// Ethernet-over-EtherCAT
ec_master_run_eoe(master);
}
/*****************************************************************************/
@ -1186,15 +1216,36 @@ void ecrt_master_print(const ec_master_t *master, /**< EtherCAT-Master */
)
{
unsigned int i;
ec_eoe_t *eoe;
EC_INFO("*** Begin master information ***\n");
for (i = 0; i < master->slave_count; i++)
ec_slave_print(&master->slaves[i], verbosity);
if (master->slave_count) {
EC_INFO("Slave list:\n");
for (i = 0; i < master->slave_count; i++)
ec_slave_print(&master->slaves[i], verbosity);
}
if (!list_empty(&master->eoe_slaves)) {
EC_INFO("Ethernet-over-EtherCAT (EoE) objects:\n");
list_for_each_entry(eoe, &master->eoe_slaves, list) {
ec_eoe_print(eoe);
}
}
EC_INFO("*** End master information ***\n");
}
/*****************************************************************************/
void ec_master_run_eoe(ec_master_t *master /**< EtherCAT-Master */)
{
ec_eoe_t *eoe;
list_for_each_entry(eoe, &master->eoe_slaves, list) {
ec_eoe_run(eoe);
}
}
/*****************************************************************************/
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_deactivate);

6
master/master.h
View File

@ -29,6 +29,7 @@ typedef struct
unsigned int delayed; /**< Verzögerte Kommandos */
unsigned int corrupted; /**< Verfälschte Rahmen */
unsigned int unmatched; /**< Unpassende Kommandos */
unsigned int eoe_errors; /**< Ethernet-over-EtherCAT Fehler */
cycles_t t_last; /**< Timestamp-Counter bei der letzten Ausgabe */
}
ec_stats_t;
@ -57,6 +58,7 @@ struct ec_master
int debug_level; /**< Debug-Level im Master-Code */
ec_stats_t stats; /**< Rahmen-Statistiken */
unsigned int timeout; /**< Timeout für synchronen Datenaustausch */
struct list_head eoe_slaves; /**< Ethernet over EtherCAT Slaves */
};
/*****************************************************************************/
@ -69,7 +71,7 @@ void ec_master_reset(ec_master_t *);
// IO
void ec_master_receive(ec_master_t *, const uint8_t *, size_t);
void ec_master_queue_command(ec_master_t *, ec_command_t *);
int ec_master_simple_io(ec_master_t *);
int ec_master_simple_io(ec_master_t *, ec_command_t *);
// Registration of devices
int ec_master_open(ec_master_t *);
@ -82,6 +84,8 @@ int ec_master_bus_scan(ec_master_t *);
void ec_master_debug(const ec_master_t *);
void ec_master_output_stats(ec_master_t *);
void ec_master_run_eoe(ec_master_t *);
/*****************************************************************************/
#endif

160
master/slave.c
View File

@ -43,11 +43,6 @@ void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
slave->base_build = 0;
slave->base_fmmu_count = 0;
slave->base_sync_count = 0;
for (i = 0; i < 2; i++) {
slave->dl_status_link[i] = 0;
slave->dl_status_loop[i] = 0;
slave->dl_status_comm[i] = 0;
}
slave->ring_position = 0;
slave->station_address = 0;
slave->sii_alias = 0;
@ -66,10 +61,19 @@ void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
slave->eeprom_name = NULL;
slave->eeprom_group = NULL;
slave->eeprom_desc = NULL;
ec_command_init(&slave->mbox_command);
INIT_LIST_HEAD(&slave->eeprom_strings);
INIT_LIST_HEAD(&slave->eeprom_syncs);
INIT_LIST_HEAD(&slave->eeprom_pdos);
INIT_LIST_HEAD(&slave->sdo_dictionary);
for (i = 0; i < 2; i++) {
slave->dl_status_link[i] = 0;
slave->dl_status_loop[i] = 0;
slave->dl_status_comm[i] = 0;
}
}
/*****************************************************************************/
@ -129,6 +133,8 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
}
kfree(sdo);
}
ec_command_clear(&slave->mbox_command);
}
/*****************************************************************************/
@ -149,7 +155,7 @@ int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
// Read base data
if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Reading base data from slave %i failed!\n",
slave->ring_position);
return -1;
@ -166,7 +172,7 @@ int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
// Read DL status
if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Reading DL status from slave %i failed!\n",
slave->ring_position);
return -1;
@ -236,7 +242,7 @@ int ec_slave_sii_read16(ec_slave_t *slave,
EC_WRITE_U8 (command->data, 0x00); // read-only access
EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
EC_WRITE_U32(command->data + 2, offset);
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
return -1;
}
@ -254,7 +260,7 @@ int ec_slave_sii_read16(ec_slave_t *slave,
if (ec_command_nprd(command, slave->station_address, 0x502, 10))
return -1;
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-read status failed on slave %i!\n",
slave->ring_position);
return -1;
@ -301,7 +307,7 @@ int ec_slave_sii_read32(ec_slave_t *slave,
EC_WRITE_U8 (command->data, 0x00); // read-only access
EC_WRITE_U8 (command->data + 1, 0x01); // request read operation
EC_WRITE_U32(command->data + 2, offset);
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
return -1;
}
@ -319,7 +325,7 @@ int ec_slave_sii_read32(ec_slave_t *slave,
if (ec_command_nprd(command, slave->station_address, 0x502, 10))
return -1;
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-read status failed on slave %i!\n",
slave->ring_position);
return -1;
@ -370,7 +376,7 @@ int ec_slave_sii_write16(ec_slave_t *slave,
EC_WRITE_U8 (command->data + 1, 0x02); // request write operation
EC_WRITE_U32(command->data + 2, offset);
EC_WRITE_U16(command->data + 6, value);
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);
return -1;
}
@ -388,7 +394,7 @@ int ec_slave_sii_write16(ec_slave_t *slave,
if (ec_command_nprd(command, slave->station_address, 0x502, 2))
return -1;
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Getting SII-write status failed on slave %i!\n",
slave->ring_position);
return -1;
@ -726,7 +732,7 @@ void ec_slave_state_ack(ec_slave_t *slave,
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return;
EC_WRITE_U16(command->data, state | EC_ACK);
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("State %02X acknowledge failed on slave %i!\n",
state, slave->ring_position);
return;
@ -741,7 +747,7 @@ void ec_slave_state_ack(ec_slave_t *slave,
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return;
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("State %02X acknowledge checking failed on slave %i!\n",
state, slave->ring_position);
return;
@ -791,7 +797,7 @@ int ec_slave_state_change(ec_slave_t *slave,
if (ec_command_npwr(command, slave->station_address, 0x0120, 2)) return -1;
EC_WRITE_U16(command->data, state);
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Failed to set state %02X on slave %i!\n",
state, slave->ring_position);
return -1;
@ -806,7 +812,7 @@ int ec_slave_state_change(ec_slave_t *slave,
if (ec_command_nprd(command, slave->station_address, 0x0130, 2))
return -1;
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_ERR("Failed to check state %02X on slave %i!\n",
state, slave->ring_position);
return -1;
@ -1049,7 +1055,7 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
command = &slave->master->simple_command;
if (ec_command_nprd(command, slave->station_address, 0x0300, 4)) return -1;
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Reading CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
@ -1082,7 +1088,7 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
// Reset CRC counters
if (ec_command_npwr(command, slave->station_address, 0x0300, 4)) return -1;
EC_WRITE_U32(command->data, 0x00000000);
if (unlikely(ec_master_simple_io(slave->master))) {
if (unlikely(ec_master_simple_io(slave->master, command))) {
EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
@ -1093,122 +1099,6 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
/*****************************************************************************/
/**
Bereitet ein Mailbox-Send-Kommando vor.
*/
uint8_t *ec_slave_prepare_mailbox_send(ec_slave_t *slave, /**< Slave */
uint8_t type, /**< Mailbox-Protokoll */
size_t size /**< Datengröße */
)
{
size_t total_size;
ec_command_t *command;
if (unlikely(!slave->sii_mailbox_protocols)) {
EC_ERR("Slave %i does not support mailbox communication!\n",
slave->ring_position);
return NULL;
}
total_size = size + 6;
if (unlikely(total_size > slave->sii_rx_mailbox_size)) {
EC_ERR("Data size does not fit in mailbox!\n");
return NULL;
}
command = &slave->master->simple_command;
if (ec_command_npwr(command, slave->station_address,
slave->sii_rx_mailbox_offset,
slave->sii_rx_mailbox_size)) return NULL;
EC_WRITE_U16(command->data, size); // Mailbox service data length
EC_WRITE_U16(command->data + 2, slave->station_address); // Station address
EC_WRITE_U8 (command->data + 4, 0x00); // Channel & priority
EC_WRITE_U8 (command->data + 5, type); // Underlying protocol type
return command->data + 6;
}
/*****************************************************************************/
/**
Empfängt ein Mailbox-Kommando.
*/
uint8_t *ec_slave_mailbox_receive(ec_slave_t *slave, /**< Slave */
uint8_t type, /**< Protokoll */
size_t *size /**< Größe der gelesenen
Daten */
)
{
ec_command_t *command;
size_t data_size;
cycles_t start, end, timeout;
command = &slave->master->simple_command;
// Read "written bit" of Sync-Manager
start = get_cycles();
timeout = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
// FIXME: Zweiter Sync-Manager nicht immer TX-Mailbox?
if (ec_command_nprd(command, slave->station_address, 0x808, 8))
return NULL;
if (unlikely(ec_master_simple_io(slave->master))) {
EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return NULL;
}
end = get_cycles();
if (EC_READ_U8(command->data + 5) & 8)
break; // Proceed with received data
if ((end - start) >= timeout) {
EC_ERR("Mailbox check - Slave %i timed out.\n",
slave->ring_position);
return NULL;
}
udelay(100);
}
if (ec_command_nprd(command, slave->station_address,
slave->sii_tx_mailbox_offset,
slave->sii_tx_mailbox_size)) return NULL;
if (unlikely(ec_master_simple_io(slave->master))) {
EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
return NULL;
}
if ((EC_READ_U8(command->data + 5) & 0x0F) != type) {
EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
" slave %i!\n", EC_READ_U8(command->data + 5), type,
slave->ring_position);
return NULL;
}
if (unlikely(slave->master->debug_level) > 1)
EC_DBG("Mailbox receive took %ius.\n", ((u32) (end - start) * 1000
/ cpu_khz));
if ((data_size = EC_READ_U16(command->data)) >
slave->sii_tx_mailbox_size - 6) {
EC_ERR("Currupt mailbox response detected!\n");
return NULL;
}
*size = data_size;
return 0;
}
/*****************************************************************************/
/**
Schreibt den "Configured station alias".
\return 0, wenn alles ok, sonst < 0

20
master/slave.h
View File

@ -11,6 +11,10 @@
#ifndef _EC_SLAVE_H_
#define _EC_SLAVE_H_
#include <linux/list.h>
#include "globals.h"
#include "command.h"
#include "types.h"
/*****************************************************************************/
@ -44,11 +48,11 @@ ec_slave_state_t;
enum
{
EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */
EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */
EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */
EC_MBOX_FOE = 0x08, /**< File Service over EtherCAT */
EC_MBOX_SOE = 0x10, /**< Servo Profile over EtherCAT */
EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
EC_MBOX_VOE = 0x20 /**< Vendor specific */
};
@ -231,6 +235,8 @@ struct ec_slave
char *eeprom_desc; /**< Slave-Beschreibung laut Hersteller */
struct list_head sdo_dictionary; /**< SDO-Verzeichnis des Slaves */
ec_command_t mbox_command; /**< Kommando für Mailbox-Kommunikation */
};
/*****************************************************************************/
@ -247,10 +253,6 @@ int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t);
int ec_slave_state_change(ec_slave_t *, uint8_t);
int ec_slave_set_fmmu(ec_slave_t *, const ec_domain_t *, const ec_sync_t *);
// Mailbox
uint8_t *ec_slave_prepare_mailbox_send(ec_slave_t *, uint8_t, size_t);
uint8_t *ec_slave_mailbox_receive(ec_slave_t *, uint8_t, size_t *);
// CANopen over EtherCAT
int ec_slave_fetch_sdo_list(ec_slave_t *);

34
master/types.c
View File

@ -25,14 +25,14 @@ const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1100 = {
"Beckhoff", "EK1100", "Bus Coupler", 1,
"Beckhoff", "EK1100", "Bus Coupler", EC_TYPE_BUS_COUPLER,
{NULL} // Keine Sync-Manager
};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1110 = {
"Beckhoff", "EK1110", "Extension terminal", 0,
"Beckhoff", "EK1110", "Extension terminal", EC_TYPE_NORMAL,
{NULL} // Keine Sync-Manager
};
@ -46,7 +46,7 @@ const ec_sync_t el1014_sm0 = { // Inputs
};
const ec_slave_type_t Beckhoff_EL1014 = {
"Beckhoff", "EL1014", "4x Digital Input", 0,
"Beckhoff", "EL1014", "4x Digital Input", EC_TYPE_NORMAL,
{&el1014_sm0, NULL}
};
@ -60,12 +60,12 @@ const ec_sync_t el20XX_sm0 = {
};
const ec_slave_type_t Beckhoff_EL2004 = {
"Beckhoff", "EL2004", "4x Digital Output", 0,
"Beckhoff", "EL2004", "4x Digital Output", EC_TYPE_NORMAL,
{&el20XX_sm0, NULL}
};
const ec_slave_type_t Beckhoff_EL2032 = {
"Beckhoff", "EL2032", "2x Digital Output (2A)", 0,
"Beckhoff", "EL2032", "2x Digital Output (2A)", EC_TYPE_NORMAL,
{&el20XX_sm0, NULL}
};
@ -87,12 +87,12 @@ const ec_sync_t el31X2_sm3 = {
};
const ec_slave_type_t Beckhoff_EL3102 = {
"Beckhoff", "EL3102", "2x Analog Input diff.", 0,
"Beckhoff", "EL3102", "2x Analog Input diff.", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
const ec_slave_type_t Beckhoff_EL3162 = {
"Beckhoff", "EL3162", "2x Analog Input", 0,
"Beckhoff", "EL3162", "2x Analog Input", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
@ -106,12 +106,12 @@ const ec_sync_t el41X2_sm2 = {
};
const ec_slave_type_t Beckhoff_EL4102 = {
"Beckhoff", "EL4102", "2x Analog Output", 0,
"Beckhoff", "EL4102", "2x Analog Output", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
const ec_slave_type_t Beckhoff_EL4132 = {
"Beckhoff", "EL4132", "2x Analog Output diff.", 0,
"Beckhoff", "EL4132", "2x Analog Output diff.", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
@ -131,7 +131,7 @@ const ec_sync_t el5001_sm3 = {
};
const ec_slave_type_t Beckhoff_EL5001 = {
"Beckhoff", "EL5001", "SSI-Interface", 0,
"Beckhoff", "EL5001", "SSI-Interface", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL}
};
@ -155,12 +155,23 @@ const ec_sync_t el5101_sm3 = {
const ec_slave_type_t Beckhoff_EL5101 =
{
"Beckhoff", "EL5101", "Incremental Encoder Interface", 0,
"Beckhoff", "EL5101", "Incremental Encoder Interface", EC_TYPE_NORMAL,
{&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL}
};
/*****************************************************************************/
const ec_sync_t el6601_sm0 = {0x1800, 522, 0x26, {NULL}};
const ec_sync_t el6601_sm1 = {0x1C00, 522, 0x22, {NULL}};
const ec_slave_type_t Beckhoff_EL6601 =
{
"Beckhoff", "EL6601", "1-Port Ethernet Switch Terminal", EC_TYPE_EOE,
{&el6601_sm0, &el6601_sm1, NULL, NULL, NULL}
};
/*****************************************************************************/
/**
Beziehung zwischen Identifikationsnummern und Klemmen-Objekt.
@ -182,6 +193,7 @@ ec_slave_ident_t slave_idents[] =
{0x00000002, 0x10243052, &Beckhoff_EL4132},
{0x00000002, 0x13893052, &Beckhoff_EL5001},
{0x00000002, 0x13ED3052, &Beckhoff_EL5101},
{0x00000002, 0x19C93052, &Beckhoff_EL6601},
{}
};

18
master/types.h
View File

@ -22,6 +22,20 @@
/*****************************************************************************/
/**
Besondere Slaves.
*/
typedef enum
{
EC_TYPE_NORMAL,
EC_TYPE_BUS_COUPLER,
EC_TYPE_EOE
}
ec_special_type_t;
/*****************************************************************************/
/**
Prozessdatenfeld.
*/
@ -63,9 +77,7 @@ typedef struct ec_slave_type
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
const char *description; /**< Genauere Beschreibung des Slave-Typs */
uint8_t bus_coupler; /**< Dieser Typ ist ein Buskoppler. Diese dienen als
Anker für die Adressierung und müssen nicht
registriert werden. */
ec_special_type_t special; /**< Spezieller Slave-Typ */
const ec_sync_t *sync_managers[EC_MAX_SYNC]; /**< Sync-Manager
Konfigurationen */
}