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ethercat
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Unbekannte Klemmen erlaubt, EL5001 integriert.

This commit is contained in:
Florian Pose 2006-02-03 10:46:33 +00:00
parent 3079d19f13
commit 842f163d28
2 changed files with 110 additions and 79 deletions
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50
master/master.c
View File

@ -415,6 +415,7 @@ int ec_scan_for_slaves(ec_master_t *master)
ec_slave_init(slave);
// Set ring position
slave->ring_position = -i;
slave->station_address = i + 1;
@ -492,10 +493,10 @@ int ec_scan_for_slaves(ec_master_t *master)
}
if (unlikely(!slave->type)) {
printk(KERN_ERR "EtherCAT: Unknown slave device (vendor %X, code %X) at "
" position %i.\n", slave->sii_vendor_id, slave->sii_product_code,
i);
return -1;
printk(KERN_WARNING "EtherCAT: Unknown slave device (vendor 0x%08X, code"
" 0x%08X) at position %i.\n", slave->sii_vendor_id,
slave->sii_product_code, i);
return 0;
}
}
@ -615,9 +616,8 @@ int ec_state_change(ec_master_t *master, ec_slave_t *slave,
}
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i (%s %s)"
" did not respond!\n", state_and_ack, slave->ring_position * (-1),
slave->type->vendor_name, slave->type->product_name);
printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i did not"
" respond!\n", state_and_ack, slave->ring_position * (-1));
return -1;
}
@ -635,14 +635,15 @@ int ec_state_change(ec_master_t *master, ec_slave_t *slave,
}
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not check state %02X - Device did not"
" respond!\n", state_and_ack);
printk(KERN_ERR "EtherCAT: Could not check state %02X - Device %i did"
" not respond!\n", state_and_ack, slave->ring_position * (-1));
return -1;
}
if (unlikely(cmd.data[0] & 0x10)) { // State change error
printk(KERN_ERR "EtherCAT: Could not set state %02X - Device refused"
" state change (code %02X)!\n", state_and_ack, cmd.data[0]);
printk(KERN_ERR "EtherCAT: Could not set state %02X - Device %i refused"
" state change (code %02X)!\n", state_and_ack,
slave->ring_position * (-1), cmd.data[0]);
return -1;
}
@ -655,8 +656,9 @@ int ec_state_change(ec_master_t *master, ec_slave_t *slave,
}
if (unlikely(!tries_left)) {
printk(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while"
" checking!\n", state_and_ack);
printk(KERN_ERR "EtherCAT: Could not check state %02X of slave %i -"
" Timeout while checking!\n", state_and_ack,
slave->ring_position * (-1));
return -1;
}
@ -767,6 +769,11 @@ ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
return NULL;
}
if (!slave->type) {
printk(KERN_ERR "EtherCAT: Unknown slave at position %i!\n", bus_index);
return NULL;
}
type = slave->type;
if (strcmp(vendor_name, type->vendor_name) ||
@ -873,11 +880,18 @@ int EtherCAT_rt_activate_slaves(ec_master_t *master)
for (i = 0; i < master->bus_slaves_count; i++)
{
slave = master->bus_slaves + i;
type = slave->type;
if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_INIT) != 0))
return -1;
// Check if slave was registered...
if (!slave->registered) {
printk(KERN_INFO "EtherCAT: Slave %i was not registered.\n", i);
continue;
}
type = slave->type;
// Resetting FMMU's
memset(data, 0x00, 256);
@ -911,14 +925,6 @@ int EtherCAT_rt_activate_slaves(ec_master_t *master)
}
}
// Check if slave was registered...
if (!slave->registered) {
printk(KERN_INFO "EtherCAT: Slave %i (%s %s) was not registered.\n",
i, type->vendor_name, type->product_name);
continue;
}
// Init Mailbox communication
if (type->features == EC_MAILBOX_SLAVE)

139
master/types.c
View File

@ -15,7 +15,15 @@
/*****************************************************************************/
/* Konfigurationen der Sync-Manager */
/*
Konfigurationen der Sync-Manager
Byte 1-2: Physical Start Address
Byte 3-4: Data Length
Byte 5: Control Byte
Byte 6: Status Byte (read only)
Byte 7-8: Enable
*/
unsigned char sm0_multi[] = {0x00, 0x18, 0xF6, 0x00, 0x26, 0x00, 0x01, 0x00};
unsigned char sm1_multi[] = {0xF6, 0x18, 0xF6, 0x00, 0x22, 0x00, 0x01, 0x00};
@ -29,7 +37,22 @@ unsigned char sm3_31xx[] = {0x00, 0x11, 0x06, 0x00, 0x20, 0x00, 0x01, 0x00};
unsigned char sm2_41xx[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x01, 0x00};
/* Konfigurationen der Memory-Management-Units */
unsigned char sm2_5001[] = {0x00, 0x10, 0x04, 0x00, 0x24, 0x00, 0x00, 0x00};
unsigned char sm3_5001[] = {0x00, 0x11, 0x05, 0x00, 0x20, 0x00, 0x01, 0x00};
/*
Konfigurationen der Memory-Management-Units
Byte 1-4: Logical Start Address (is set later)
Byte 5-6: Length
Byte 7: Logical start bit
Byte 8: Logical end bit
Byte 9-10: Physical start address
Byte 11: Physical start bit
Byte 12: Direction (1: in, 2: out)
Byte 13-14: Channel enable
Byte 15-16: Reserved
*/
unsigned char fmmu0_1014[] = {0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x07,
0x00, 0x10, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
@ -43,63 +66,66 @@ unsigned char fmmu0_31xx[] = {0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x07,
unsigned char fmmu0_41xx[] = {0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x07,
0x00, 0x10, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00};
unsigned char fmmu0_5001[] = {0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x07,
0x00, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00};
/*****************************************************************************/
/* Klemmen-Objekte */
ec_slave_type_t Beckhoff_EK1100[] =
{{
"Beckhoff", "EK1100", "Bus Coupler",
EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
}};
ec_slave_type_t Beckhoff_EK1100 =
{
"Beckhoff", "EK1100", "Bus Coupler",
EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
};
ec_slave_type_t Beckhoff_EK1110[] =
{{
"Beckhoff", "EK1110", "Extension terminal",
EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
}};
ec_slave_type_t Beckhoff_EK1110 =
{
"Beckhoff", "EK1110", "Extension terminal",
EC_NOSYNC_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
};
ec_slave_type_t Beckhoff_EL1014[] =
{{
"Beckhoff", "EL1014", "4x Digital Input",
EC_SIMPLE_SLAVE, sm0_1014, NULL, NULL, NULL, fmmu0_1014, 1
}};
ec_slave_type_t Beckhoff_EL1014 =
{
"Beckhoff", "EL1014", "4x Digital Input",
EC_SIMPLE_SLAVE, sm0_1014, NULL, NULL, NULL, fmmu0_1014, 1
};
ec_slave_type_t Beckhoff_EL2004[] =
{{
"Beckhoff", "EL2004", "4x Digital Output",
EC_SIMPLE_SLAVE, sm0_2004, NULL, NULL, NULL, fmmu0_2004, 1
}};
ec_slave_type_t Beckhoff_EL2004 =
{
"Beckhoff", "EL2004", "4x Digital Output",
EC_SIMPLE_SLAVE, sm0_2004, NULL, NULL, NULL, fmmu0_2004, 1
};
ec_slave_type_t Beckhoff_EL3102[] =
{{
"Beckhoff", "EL3102", "2x Analog Input diff.",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
}};
ec_slave_type_t Beckhoff_EL3102 =
{
"Beckhoff", "EL3102", "2x Analog Input diff.",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
};
ec_slave_type_t Beckhoff_EL3162[] =
{{
"Beckhoff", "EL3162", "2x Analog Input",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
}};
ec_slave_type_t Beckhoff_EL3162 =
{
"Beckhoff", "EL3162", "2x Analog Input",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_31xx, sm3_31xx, fmmu0_31xx, 6
};
ec_slave_type_t Beckhoff_EL4102[] =
{{
"Beckhoff", "EL4102", "2x Analog Output",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
}};
ec_slave_type_t Beckhoff_EL4102 =
{
"Beckhoff", "EL4102", "2x Analog Output",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
};
ec_slave_type_t Beckhoff_EL4132[] =
{{
"Beckhoff", "EL4132", "2x Analog Output diff.",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
}};
ec_slave_type_t Beckhoff_EL4132 =
{
"Beckhoff", "EL4132", "2x Analog Output diff.",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_41xx, NULL, fmmu0_41xx, 4
};
ec_slave_type_t Beckhoff_EL5001[] =
{{
"Beckhoff", "EL5001", "SSI-Interface", // Noch nicht eingepflegt...
EC_SIMPLE_SLAVE, NULL, NULL, NULL, NULL, NULL, 0
}};
ec_slave_type_t Beckhoff_EL5001 =
{
"Beckhoff", "EL5001", "SSI-Interface",
EC_MAILBOX_SLAVE, sm0_multi, sm1_multi, sm2_5001, sm3_5001, fmmu0_5001, 5
};
/*****************************************************************************/
@ -113,19 +139,18 @@ ec_slave_type_t Beckhoff_EL5001[] =
ec_slave_ident_t slave_idents[] =
{
{0x00000002, 0x03F63052, Beckhoff_EL1014},
{0x00000002, 0x044C2C52, Beckhoff_EK1100},
{0x00000002, 0x04562C52, Beckhoff_EK1110},
{0x00000002, 0x07D43052, Beckhoff_EL2004},
{0x00000002, 0x0C1E3052, Beckhoff_EL3102},
{0x00000002, 0x0C5A3052, Beckhoff_EL3162},
{0x00000002, 0x10063052, Beckhoff_EL4102},
{0x00000002, 0x10243052, Beckhoff_EL4132},
{0x00000002, 0x13893052, Beckhoff_EL5001}
{0x00000002, 0x03F63052, &Beckhoff_EL1014},
{0x00000002, 0x044C2C52, &Beckhoff_EK1100},
{0x00000002, 0x04562C52, &Beckhoff_EK1110},
{0x00000002, 0x07D43052, &Beckhoff_EL2004},
{0x00000002, 0x0C1E3052, &Beckhoff_EL3102},
{0x00000002, 0x0C5A3052, &Beckhoff_EL3162},
{0x00000002, 0x10063052, &Beckhoff_EL4102},
{0x00000002, 0x10243052, &Beckhoff_EL4132},
{0x00000002, 0x13893052, &Beckhoff_EL5001}
};
unsigned int slave_ident_count = sizeof(slave_idents)
/ sizeof(ec_slave_ident_t);
/*****************************************************************************/