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ethercat
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Sending of multiple frames

This commit is contained in:
Florian Pose 2006-04-10 10:53:12 +00:00
parent 02493380b0
commit 652cb7d123
2 changed files with 73 additions and 57 deletions
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128
master/master.c
View File

@ -169,84 +169,98 @@ void ec_master_send_commands(ec_master_t *master /**< EtherCAT-Master */)
uint8_t *frame_data, *cur_data; uint8_t *frame_data, *cur_data;
void *follows_word; void *follows_word;
cycles_t start = 0, end; cycles_t start = 0, end;
unsigned int frame_count, more_commands_waiting;
frame_count = 0;
if (unlikely(master->debug_level > 0)) { if (unlikely(master->debug_level > 0)) {
EC_DBG("ec_master_send\n"); EC_DBG("ec_master_send_commands\n");
start = get_cycles(); start = get_cycles();
} }
// Zeiger auf Socket-Buffer holen do {
frame_data = ec_device_tx_data(master->device); // Zeiger auf Socket-Buffer holen
cur_data = frame_data + EC_FRAME_HEADER_SIZE; frame_data = ec_device_tx_data(master->device);
follows_word = NULL; cur_data = frame_data + EC_FRAME_HEADER_SIZE;
follows_word = NULL;
more_commands_waiting = 0;
// Aktuellen Frame mit Kommandos füllen // Aktuellen Frame mit Kommandos füllen
list_for_each_entry(command, &master->command_queue, queue) { list_for_each_entry(command, &master->command_queue, queue) {
if (command->state != EC_CMD_QUEUED) continue; if (command->state != EC_CMD_QUEUED) continue;
// Passt das aktuelle Kommando noch in den aktuellen Rahmen? // Passt das aktuelle Kommando noch in den aktuellen Rahmen?
command_size = EC_COMMAND_HEADER_SIZE + command->data_size command_size = EC_COMMAND_HEADER_SIZE + command->data_size
+ EC_COMMAND_FOOTER_SIZE; + EC_COMMAND_FOOTER_SIZE;
if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) break; if (cur_data - frame_data + command_size > EC_MAX_FRAME_SIZE) {
more_commands_waiting = 1;
break;
}
command->state = EC_CMD_SENT; command->state = EC_CMD_SENT;
command->index = master->command_index++; command->index = master->command_index++;
if (unlikely(master->debug_level > 0))
EC_DBG("adding command 0x%02X\n", command->index);
// Command-Following-Flag im letzten Kommando setzen
if (follows_word)
EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000);
// EtherCAT command header
EC_WRITE_U8 (cur_data, command->type);
EC_WRITE_U8 (cur_data + 1, command->index);
EC_WRITE_U32(cur_data + 2, command->address.logical);
EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);
EC_WRITE_U16(cur_data + 8, 0x0000);
follows_word = cur_data + 6;
cur_data += EC_COMMAND_HEADER_SIZE;
// EtherCAT command data
memcpy(cur_data, command->data, command->data_size);
cur_data += command->data_size;
// EtherCAT command footer
EC_WRITE_U16(cur_data, 0x0000); // Working counter
cur_data += EC_COMMAND_FOOTER_SIZE;
}
if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {
if (unlikely(master->debug_level > 0))
EC_DBG("nothing to send.\n");
break;
}
// EtherCAT frame header
EC_WRITE_U16(frame_data, ((cur_data - frame_data
- EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
// Rahmen auffüllen
while (cur_data - frame_data < EC_MIN_FRAME_SIZE)
EC_WRITE_U8(cur_data++, 0x00);
if (unlikely(master->debug_level > 0)) if (unlikely(master->debug_level > 0))
EC_DBG("adding command 0x%02X\n", command->index); EC_DBG("frame size: %i\n", cur_data - frame_data);
// Command-Following-Flag im letzten Kommando setzen // Send frame
if (follows_word) ec_device_send(master->device, cur_data - frame_data);
EC_WRITE_U16(follows_word, EC_READ_U16(follows_word) | 0x8000); frame_count++;
// EtherCAT command header
EC_WRITE_U8 (cur_data, command->type);
EC_WRITE_U8 (cur_data + 1, command->index);
EC_WRITE_U32(cur_data + 2, command->address.logical);
EC_WRITE_U16(cur_data + 6, command->data_size & 0x7FF);
EC_WRITE_U16(cur_data + 8, 0x0000);
follows_word = cur_data + 6;
cur_data += EC_COMMAND_HEADER_SIZE;
// EtherCAT command data
memcpy(cur_data, command->data, command->data_size);
cur_data += command->data_size;
// EtherCAT command footer
EC_WRITE_U16(cur_data, 0x0000); // Working counter
cur_data += EC_COMMAND_FOOTER_SIZE;
} }
while (more_commands_waiting);
if (cur_data - frame_data == EC_FRAME_HEADER_SIZE) {
if (unlikely(master->debug_level > 0)) EC_DBG("nothing to send.\n");
return;
}
// EtherCAT frame header
EC_WRITE_U16(frame_data, ((cur_data - frame_data
- EC_FRAME_HEADER_SIZE) & 0x7FF) | 0x1000);
// Rahmen auffüllen
while (cur_data - frame_data < EC_MIN_FRAME_SIZE)
EC_WRITE_U8(cur_data++, 0x00);
if (unlikely(master->debug_level > 0))
EC_DBG("Frame size: %i\n", cur_data - frame_data);
// Send frame
ec_device_send(master->device, cur_data - frame_data);
if (unlikely(master->debug_level > 0)) { if (unlikely(master->debug_level > 0)) {
end = get_cycles(); end = get_cycles();
EC_DBG("ec_master_send finished in %ius.\n", EC_DBG("ec_master_send_commands sent %i frames in %ius.\n",
(u32) (end - start) * 1000 / cpu_khz); frame_count, (u32) (end - start) * 1000 / cpu_khz);
} }
} }
/*****************************************************************************/ /*****************************************************************************/
/** /**
Wertet einen empfangenen Rahmen aus. Processes a received frame.
This function is called by the network driver for every received frame.
\return 0 bei Erfolg, sonst < 0 \return 0 bei Erfolg, sonst < 0
*/ */

2
todo.txt
View File

@ -3,6 +3,8 @@ TODO-Liste EtherCAT-Treiber
$Id$ $Id$
- Addressierung von Alias-Slaves
- Proc-Interface
- Verteilen von empfangenen Mailbox-Daten? - Verteilen von empfangenen Mailbox-Daten?
- Ethernet over EtherCAT (EoE) - Ethernet over EtherCAT (EoE)
- Anzahl Frames, die die Karte Puffern kann - Anzahl Frames, die die Karte Puffern kann