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ethercat
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Neues Slave-Interface, CRC-Prüfung und mehrfaches Scannen nun ungefährlich.

This commit is contained in:
Florian Pose 2006-02-23 13:38:54 +00:00
parent 4d65b22b0f
commit b49d9be301
5 changed files with 139 additions and 50 deletions
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88
include/EtherCAT_si.h
View File

@ -8,64 +8,76 @@
*
*****************************************************************************/
#define EC_PROC_DATA(SLAVE) ((unsigned char *) ((SLAVE)->process_data))
/*****************************************************************************/
#define EC_READ_EL10XX(SLAVE, CHANNEL) \
((EC_PROC_DATA(SLAVE)[0] >> (CHANNEL)) & 0x01)
// Bitwise read/write macros
/*****************************************************************************/
#define EC_READ_BIT(PD, CH) (*((uint8_t *) (PD)) >> (CH)) & 0x01)
#define EC_WRITE_EL200X(SLAVE, CHANNEL, VALUE) \
#define EC_WRITE_BIT(PD, CH, VAL) \
do { \
if (VALUE) EC_PROC_DATA(SLAVE)[0] |= (1 << (CHANNEL)); \
else EC_PROC_DATA(SLAVE)[0] &= ~(1 << (CHANNEL)); \
if (VAL) *((uint8_t *) (PD)) |= (1 << (CH)); \
else *((uint8_t *) (PD)) &= ~(1 << (CH)); \
} while (0)
/*****************************************************************************/
#define EC_READ_EL310X(SLAVE, CHANNEL) \
((signed short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
// Read macros
#define EC_READ_EL316X(SLAVE, CHANNEL) \
((unsigned short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
#define EC_READ_U8(PD) \
(*((uint8_t *) (PD)))
#define EC_READ_S8(PD) \
((int8_t) *((uint8_t *) (PD)))
#define EC_READ_U16(PD) \
((uint16_t) (*((uint8_t *) (PD) + 0) << 0 | \
*((uint8_t *) (PD) + 1) << 8))
#define EC_READ_S16(PD) \
((int16_t) (*((uint8_t *) (PD) + 0) << 0 | \
*((uint8_t *) (PD) + 1) << 8))
#define EC_READ_U32(PD) \
((uint32_t) (*((uint8_t *) (PD) + 0) << 0 | \
*((uint8_t *) (PD) + 1) << 8 | \
*((uint8_t *) (PD) + 2) << 16 | \
*((uint8_t *) (PD) + 3) << 24))
#define EC_READ_S32(PD) \
((int32_t) (*((uint8_t *) (PD) + 0) << 0 | \
*((uint8_t *) (PD) + 1) << 8 | \
*((uint8_t *) (PD) + 2) << 16 | \
*((uint8_t *) (PD) + 3) << 24))
/*****************************************************************************/
#define EC_WRITE_EL410X(SLAVE, CHANNEL, VALUE) \
// Write macros
#define EC_WRITE_U8(PD, VAL) \
do { \
EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \
EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] = (VALUE) & 0xFF; \
*((uint8_t *)(PD)) = ((uint8_t) (VAL)); \
} while (0)
/*****************************************************************************/
#define EC_WRITE_S8(PD, VAL) EC_WRITE_U8(PD, VAL)
#define EC_CONF_EL5001_BAUD (0x4067)
#define EC_WRITE_U16(PD, VAL) \
do { \
*((uint8_t *) (PD) + 0) = ((uint16_t) (VAL) >> 0) & 0xFF; \
*((uint8_t *) (PD) + 1) = ((uint16_t) (VAL) >> 8) & 0xFF; \
} while (0)
#define EC_READ_EL5001_STATE(SLAVE) \
((unsigned char) EC_PROC_DATA(SLAVE)[0])
#define EC_WRITE_S16(PD, VAL) EC_WRITE_U16(PD, VAL)
#define EC_READ_EL5001_VALUE(SLAVE) \
((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \
(EC_PROC_DATA(SLAVE)[2] << 8) | \
(EC_PROC_DATA(SLAVE)[3] << 16) | \
(EC_PROC_DATA(SLAVE)[4] << 24)))
#define EC_WRITE_U32(PD, VAL) \
do { \
*((uint8_t *) (PD) + 0) = ((uint32_t) (VAL) >> 0) & 0xFF; \
*((uint8_t *) (PD) + 1) = ((uint32_t) (VAL) >> 8) & 0xFF; \
*((uint8_t *) (PD) + 2) = ((uint32_t) (VAL) >> 16) & 0xFF; \
*((uint8_t *) (PD) + 3) = ((uint32_t) (VAL) >> 24) & 0xFF; \
} while (0)
/*****************************************************************************/
#define EC_READ_EL5101_STATE(SLAVE) \
((unsigned char) EC_PROC_DATA(SLAVE)[0])
#define EC_READ_EL5101_VALUE(SLAVE) \
((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \
(EC_PROC_DATA(SLAVE)[2] << 8)))
#define EC_READ_EL5101_LATCH(SLAVE) \
((unsigned int) (EC_PROC_DATA(SLAVE)[3] | \
(EC_PROC_DATA(SLAVE)[4] << 8)))
#define EC_WRITE_S32(PD, VAL) EC_WRITE_U32(PD, VAL)
/*****************************************************************************/

44
master/master.c
View File

@ -71,14 +71,7 @@ void ec_master_reset(ec_master_t *master
{
unsigned int i;
if (master->slaves) {
for (i = 0; i < master->slave_count; i++) {
ec_slave_clear(master->slaves + i);
}
kfree(master->slaves);
master->slaves = NULL;
}
master->slave_count = 0;
ec_master_clear_slaves(master);
for (i = 0; i < master->domain_count; i++) {
ec_domain_clear(master->domains[i]);
@ -95,6 +88,26 @@ void ec_master_reset(ec_master_t *master
/*****************************************************************************/
/**
Entfernt alle Slaves.
*/
void ec_master_clear_slaves(ec_master_t *master /**< EtherCAT-Master */)
{
unsigned int i;
if (master->slaves) {
for (i = 0; i < master->slave_count; i++) {
ec_slave_clear(master->slaves + i);
}
kfree(master->slaves);
master->slaves = NULL;
}
master->slave_count = 0;
}
/*****************************************************************************/
/**
Öffnet das EtherCAT-Geraet des Masters.
@ -152,10 +165,9 @@ int ec_scan_for_slaves(ec_master_t *master /**< EtherCAT-Master */)
unsigned int i;
unsigned char data[2];
if (master->slaves || master->slave_count) {
printk(KERN_ERR "EtherCAT: Slave scan already done!\n");
return -1;
}
if (master->slaves || master->slave_count)
printk(KERN_WARNING "EtherCAT: Slave scan already done!\n");
ec_master_clear_slaves(master);
// Determine number of slaves on bus
@ -434,6 +446,8 @@ ec_domain_t *EtherCAT_rt_master_register_domain(ec_master_t *master,
return domain;
}
/*****************************************************************************/
/**
Konfiguriert alle Slaves und setzt den Operational-Zustand.
@ -486,6 +500,9 @@ int EtherCAT_rt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
type = slave->type;
// Check and reset CRC fault counters
ec_slave_check_crc(slave);
// Resetting FMMU's
if (slave->base_fmmu_count) {
memset(data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
@ -581,6 +598,9 @@ int EtherCAT_rt_master_deactivate(ec_master_t *master /**< EtherCAT-Master */)
{
slave = master->slaves + i;
// CRC-Zählerstände ausgeben
ec_slave_check_crc(slave);
if (unlikely(ec_slave_state_change(slave, EC_SLAVE_STATE_INIT) != 0))
return -1;
}

1
master/master.h
View File

@ -47,6 +47,7 @@ struct ec_master
void ec_master_init(ec_master_t *);
void ec_master_clear(ec_master_t *);
void ec_master_reset(ec_master_t *);
void ec_master_clear_slaves(ec_master_t *);
// Registration of devices
int ec_master_open(ec_master_t *);

55
master/slave.c
View File

@ -432,6 +432,61 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
/*****************************************************************************/
/**
Gibt die Zählerstände der CRC-Fault-Counter aus und setzt diese zurück.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_frame_t frame;
uint8_t data[4];
uint16_t crc[2];
ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x0300,
4);
if (unlikely(ec_frame_send_receive(&frame))) {
printk(KERN_WARNING "EtherCAT: Reading CRC fault counters failed"
" on slave %i - Could not send command!\n",
slave->ring_position);
return -1;
}
if (unlikely(frame.working_counter != 1)) {
printk(KERN_WARNING "EtherCAT: Reading CRC fault counters -"
" Slave %i did not respond!\n", slave->ring_position);
return -1;
}
crc[0] = frame.data[0] | (frame.data[1] << 8);
crc[1] = frame.data[2] | (frame.data[3] << 8);
// No CRC faults.
if (!crc[0] && !crc[1]) return 0;
printk(KERN_INFO "EtherCAT: CRC faults on slave %i. A: %i, B: %i\n",
slave->ring_position, crc[0], crc[1]);
// Reset CRC counters
memset(data, 0x00, 4);
ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0300,
4, data);
if (unlikely(ec_frame_send_receive(&frame))) return -1;
if (unlikely(frame.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Resetting CRC fault counters - Slave"
" %i did not respond!\n", slave->ring_position);
return -1;
}
return 0;
}
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***

1
master/slave.h
View File

@ -77,6 +77,7 @@ int ec_slave_set_fmmu(ec_slave_t *, const ec_domain_t *, const ec_sync_t *);
// Misc
void ec_slave_print(const ec_slave_t *);
int ec_slave_check_crc(ec_slave_t *);
/*****************************************************************************/