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ethercat
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Slave alias implementiert.

This commit is contained in:
Florian Pose 2006-03-20 15:28:25 +00:00
parent 290d5d86a4
commit e6ac6a1900
5 changed files with 187 additions and 36 deletions
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2
include/ecrt.h
View File

@ -69,6 +69,8 @@ int ecrt_master_sdo_read(ec_master_t *master,
uint16_t sdo_index,
uint8_t sdo_subindex,
uint32_t *value);
int ecrt_master_write_slave_alias(ec_master_t *master,
const char *slave_address, uint16_t alias);
/*****************************************************************************/
// Domain Methods

115
master/master.c
View File

@ -524,11 +524,13 @@ void ec_master_output_stats(ec_master_t *master /**< EtherCAT-Master */)
Wandelt eine ASCII-kodierte Bus-Adresse in einen Slave-Zeiger.
Gültige Adress-Strings sind Folgende:
- \a "X" = der X. Slave im Bus,
- \a "X:Y" = der Y. Slave hinter dem X. Buskoppler,
- \a "#X" = der Slave mit der SSID X,
- \a "#X:Y" = der Y. Slave hinter dem Buskoppler mit der SSID X.
- \a "#X" = der Slave mit dem Alias X,
- \a "#X:Y" = der Y. Slave hinter dem Buskoppler mit dem Alias X.
X und Y fangen immer bei 0 an und können auch hexadezimal oder oktal
angegeben werden (mit entsprechendem Prefix).
\return Zeiger auf Slave bei Erfolg, sonst NULL
*/
@ -541,65 +543,94 @@ ec_slave_t *ec_master_slave_address(const ec_master_t *master,
{
unsigned long first, second;
char *remainder, *remainder2;
unsigned int i;
unsigned int i, alias_requested, alias_slave_index, alias_found;
int coupler_idx, slave_idx;
ec_slave_t *slave;
if (!address || address[0] == 0) return NULL;
alias_requested = 0;
alias_slave_index = 0;
if (address[0] == '#') {
EC_ERR("Bus ID \"%s\" - #<SSID> not implemented yet!\n", address);
return NULL;
alias_requested = 1;
address++;
}
first = simple_strtoul(address, &remainder, 0);
if (remainder == address) {
EC_ERR("Bus ID \"%s\" - First number empty!\n", address);
EC_ERR("Slave address \"%s\" - First number empty!\n", address);
return NULL;
}
if (!remainder[0]) { // absolute position
if (first < master->slave_count) {
return master->slaves + first;
if (alias_requested) {
alias_found = 0;
for (i = 0; i < master->slave_count; i++) {
if (master->slaves[i].sii_alias == first) {
alias_slave_index = i;
alias_found = 1;
break;
}
}
if (!alias_found) {
EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
return NULL;
}
EC_ERR("Bus ID \"%s\" - Absolute position invalid!\n", address);
}
if (!remainder[0]) { // absolute position
if (alias_requested) {
return master->slaves + alias_slave_index;
}
else {
if (first < master->slave_count) {
return master->slaves + first;
}
EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
address);
}
}
else if (remainder[0] == ':') { // field position
remainder++;
second = simple_strtoul(remainder, &remainder2, 0);
if (remainder2 == remainder) {
EC_ERR("Bus ID \"%s\" - Sencond number empty!\n", address);
EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
return NULL;
}
if (remainder2[0]) {
EC_ERR("Bus ID \"%s\" - Invalid trailer (2)!\n", address);
EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
return NULL;
}
coupler_idx = -1;
slave_idx = 0;
for (i = 0; i < master->slave_count; i++, slave_idx++) {
slave = master->slaves + i;
if (!slave->type) continue;
if (slave->type->bus_coupler) {
coupler_idx++;
slave_idx = 0;
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 (i - alias_slave_index - 1 == second) return slave;
}
EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
" following!\n", address,
(master->slaves + alias_slave_index)->ring_position,
second);
return NULL;
}
else {
coupler_idx = -1;
slave_idx = 0;
for (i = 0; i < master->slave_count; i++, slave_idx++) {
slave = master->slaves + i;
if (!slave->type) continue; // FIXME
if (slave->type->bus_coupler) {
coupler_idx++;
slave_idx = 0;
}
if (coupler_idx == first && slave_idx == second) return slave;
}
if (coupler_idx == first && slave_idx == second) return slave;
}
}
else
EC_ERR("Bus ID \"%s\" - Invalid trailer!\n", address);
// FIXME ???
EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
return NULL;
}
@ -1030,6 +1061,29 @@ void ecrt_master_print(const ec_master_t *master /**< EtherCAT-Master */)
/*****************************************************************************/
/**
Schreibt den "Configured station alias".
\return 0, wenn alles ok, sonst < 0
*/
int ecrt_master_write_slave_alias(ec_master_t *master,
/** EtherCAT-Master */
const char *slave_address,
/** Slave-Adresse,
siehe ec_master_slave_address() */
uint16_t alias
/** Neuer Alias */
)
{
ec_slave_t *slave;
if (!(slave = ec_master_slave_address(master, slave_address)))
return -1;
return ec_slave_sii_write(slave, 0x0004, alias);
}
/*****************************************************************************/
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_deactivate);
@ -1039,6 +1093,7 @@ EXPORT_SYMBOL(ecrt_master_async_send);
EXPORT_SYMBOL(ecrt_master_async_receive);
EXPORT_SYMBOL(ecrt_master_debug);
EXPORT_SYMBOL(ecrt_master_print);
EXPORT_SYMBOL(ecrt_master_write_slave_alias);
/*****************************************************************************/

94
master/slave.c
View File

@ -34,6 +34,7 @@ void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
slave->base_sync_count = 0;
slave->ring_position = 0;
slave->station_address = 0;
slave->sii_alias = 0;
slave->sii_vendor_id = 0;
slave->sii_product_code = 0;
slave->sii_revision_number = 0;
@ -85,6 +86,12 @@ int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
// Read identification from "Slave Information Interface" (SII)
if (unlikely(ec_slave_sii_read(slave, 0x0004,
(uint32_t *) &slave->sii_alias))) {
EC_ERR("Could not read SII alias!\n");
return -1;
}
if (unlikely(ec_slave_sii_read(slave, 0x0008, &slave->sii_vendor_id))) {
EC_ERR("Could not read SII vendor id!\n");
return -1;
@ -134,10 +141,9 @@ int ec_slave_sii_read(ec_slave_t *slave,
// Initiate read operation
EC_WRITE_U8 (data, 0x00);
EC_WRITE_U8 (data + 1, 0x01);
EC_WRITE_U16(data + 2, offset);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U8 (data, 0x00); // read-only access
EC_WRITE_U8 (data + 1, 0x01); // request read operation
EC_WRITE_U32(data + 2, offset);
ec_command_init_npwr(&command, slave->station_address, 0x502, 6, data);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
@ -166,7 +172,7 @@ int ec_slave_sii_read(ec_slave_t *slave,
end = get_cycles();
if (likely((EC_READ_U8(command.data + 1) & 0x81) == 0)) {
memcpy(target, command.data + 6, 4);
*target = EC_READ_U32(command.data + 6);
return 0;
}
@ -179,6 +185,81 @@ int ec_slave_sii_read(ec_slave_t *slave,
/*****************************************************************************/
/**
Schreibt Daten in das Slave-Information-Interface
eines EtherCAT-Slaves.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_sii_write(ec_slave_t *slave,
/**< EtherCAT-Slave */
uint16_t offset,
/**< Adresse des zu lesenden SII-Registers */
uint16_t value
/**< Zu schreibender Wert */
)
{
ec_command_t command;
uint8_t data[8];
cycles_t start, end, timeout;
EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",
slave->ring_position, offset, value);
// Initiate write operation
EC_WRITE_U8 (data, 0x01); // enable write access
EC_WRITE_U8 (data + 1, 0x02); // request write operation
EC_WRITE_U32(data + 2, offset);
EC_WRITE_U16(data + 6, value);
ec_command_init_npwr(&command, slave->station_address, 0x502, 8, data);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);
return -1;
}
// Der Slave legt die Informationen des Slave-Information-Interface
// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
// den Status auslesen, bis das Bit weg ist.
start = get_cycles();
timeout = cpu_khz; // 1ms
while (1)
{
udelay(10);
ec_command_init_nprd(&command, slave->station_address, 0x502, 2);
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;
}
end = get_cycles();
if (likely((EC_READ_U8(command.data + 1) & 0x82) == 0)) {
if (EC_READ_U8(command.data + 1) & 0x40) {
EC_ERR("SII-write failed!\n");
return -1;
}
else {
EC_INFO("SII-write succeeded!\n");
return 0;
}
}
if (unlikely((end - start) >= timeout)) {
EC_ERR("SSI-write: Slave %i timed out!\n", slave->ring_position);
return -1;
}
}
}
/*****************************************************************************/
/**
Bestätigt einen Fehler beim Zustandswechsel.
@ -377,6 +458,8 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
slave->base_fmmu_count, slave->base_sync_count);
EC_INFO(" Slave information interface:\n");
EC_INFO(" Configured station alias: 0x%04X (%i)\n", slave->sii_alias,
slave->sii_alias);
EC_INFO(" Vendor-ID: 0x%08X, Product code: 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
EC_INFO(" Revision number: 0x%08X, Serial number: 0x%08X\n",
@ -429,3 +512,4 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
;;; c-basic-offset:4 ***
;;; End: ***
*/

2
master/slave.h
View File

@ -71,6 +71,7 @@ struct ec_slave
uint16_t base_sync_count; /**< Anzahl unterstützter Sync-Manager */
// Slave information interface
uint16_t sii_alias; /**< Configured station alias */
uint32_t sii_vendor_id; /**< Identifikationsnummer des Herstellers */
uint32_t sii_product_code; /**< Herstellerspezifischer Produktcode */
uint32_t sii_revision_number; /**< Revisionsnummer */
@ -94,6 +95,7 @@ void ec_slave_clear(ec_slave_t *);
// Slave control
int ec_slave_fetch(ec_slave_t *);
int ec_slave_sii_read(ec_slave_t *, uint16_t, uint32_t *);
int ec_slave_sii_write(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 *);

10
mini/mini.c
View File

@ -45,7 +45,7 @@ ec_field_init_t domain1_fields[] = {
{NULL, "6", "Beckhoff", "EL1014", "InputValue", 0},
{NULL, "7", "Beckhoff", "EL2004", "OutputValue", 0},
{NULL, "8", "Beckhoff", "EL4132", "OutputValue", 0},
{NULL, "9", "Beckhoff", "EL4132", "OutputValue", 0},
{NULL, "#48879:8", "Beckhoff", "EL4132", "OutputValue", 0},
{}
};
@ -144,6 +144,14 @@ int __init init_mini_module(void)
//ecrt_master_debug(master, 0);
#if 0
printk(KERN_INFO "Writing alias...\n");
if (ecrt_master_write_slave_alias(master, "0", 0xBEEF)) {
printk(KERN_ERR "EtherCAT: Failed to write alias!\n");
goto out_deactivate;
}
#endif
#ifdef ASYNC
// Einmal senden und warten...
ecrt_master_prepare_async_io(master);