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ethercat
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This commit is contained in:
Florian Pose 2005-11-04 17:51:36 +00:00
parent d9f0c7cdef
commit eb59b89ff4
1 changed files with 84 additions and 84 deletions
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168
drivers/ec_master.c
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@ -127,7 +127,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
return -1;
}
// No slaves.
// No slaves.
if (slave_count == 0)
{
EC_DBG(KERN_ERR "EtherCAT: No slaves in list!");
@ -140,7 +140,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
{
return -1;
}
if (EtherCAT_async_send_receive(master) != 0)
{
return -1;
@ -151,7 +151,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
EC_DBG(KERN_ERR "EtherCAT: Wrong number of slaves on bus: %i / %i\n",
cmd->working_counter, slave_count);
EtherCAT_remove_command(master, cmd);
return -1;
}
else
@ -159,7 +159,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
EC_DBG("EtherCAT: Found all %i slaves.\n", slave_count);
}
EtherCAT_remove_command(master, cmd);
EtherCAT_remove_command(master, cmd);
// For every slave in the list
for (i = 0; i < slave_count; i++)
@ -177,7 +177,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
cur->station_address = i + 1;
// Write station address
data[0] = cur->station_address & 0x00FF;
data[1] = (cur->station_address & 0xFF00) >> 8;
@ -185,19 +185,19 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
{
return -1;
}
if (EtherCAT_async_send_receive(master) != 0)
{
return -1;
}
if (cmd->working_counter != 1)
{
EC_DBG(KERN_ERR "EtherCAT: Slave %i did not repond while writing station address!\n", i);
return -1;
}
EtherCAT_remove_command(master, cmd);
EtherCAT_remove_command(master, cmd);
// Read base data
@ -210,7 +210,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
if (EtherCAT_async_send_receive(master) != 0)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Could not send command!\n");
return -1;
}
@ -218,7 +218,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Slave %i did not respond while reading base data!\n", i);
return -1;
}
@ -229,7 +229,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
cur->build = cmd->data[2] | (cmd->data[3] << 8);
EtherCAT_remove_command(master, cmd);
// Read identification from "Slave Information Interface" (SII)
if (EtherCAT_read_slave_information(master, cur->station_address,
@ -290,7 +290,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
EC_DBG(KERN_ERR "EtherCAT: Unknown slave device"
" (vendor %X, code %X) at position %i.\n",
i, cur->vendor_id, cur->product_code);
return -1;
return -1;
}
}
@ -321,7 +321,7 @@ int EtherCAT_check_slaves(EtherCAT_master_t *master,
slaves[i].serial_number);
pos += slaves[i].desc->data_length;
}
}
master->slaves = slaves;
master->slave_count = slave_count;
@ -410,13 +410,13 @@ int EtherCAT_read_slave_information(EtherCAT_master_t *master,
if ((cmd = EtherCAT_read(master, node_address, 0x502, 10)) == NULL)
return -2;
if (EtherCAT_async_send_receive(master) != 0)
{
EtherCAT_remove_command(master, cmd);
return -3;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
@ -431,7 +431,7 @@ int EtherCAT_read_slave_information(EtherCAT_master_t *master,
EtherCAT_remove_command(master, cmd);
break;
}
EtherCAT_remove_command(master, cmd);
tries_left--;
@ -710,7 +710,7 @@ int EtherCAT_receive(EtherCAT_master_t *master)
EC_DBG(KERN_DEBUG);
for (i = 0; i < master->tx_data_length; i++)
{
EC_DBG("%02X ", master->tx_data[i]);
EC_DBG("%02X ", master->tx_data[i]);
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
}
EC_DBG("\n");
@ -735,7 +735,7 @@ int EtherCAT_receive(EtherCAT_master_t *master)
EC_DBG(KERN_DEBUG);
for (i = 0; i < master->tx_data_length; i++)
{
EC_DBG("%02X ", master->tx_data[i]);
EC_DBG("%02X ", master->tx_data[i]);
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
}
EC_DBG("\n");
@ -761,7 +761,7 @@ int EtherCAT_receive(EtherCAT_master_t *master)
EC_DBG(KERN_DEBUG);
for (i = 0; i < master->tx_data_length; i++)
{
EC_DBG("%02X ", master->tx_data[i]);
EC_DBG("%02X ", master->tx_data[i]);
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
}
EC_DBG("\n");
@ -789,7 +789,7 @@ int EtherCAT_receive(EtherCAT_master_t *master)
EC_DBG(KERN_DEBUG);
for (i = 0; i < master->tx_data_length; i++)
{
EC_DBG("%02X ", master->tx_data[i]);
EC_DBG("%02X ", master->tx_data[i]);
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
}
EC_DBG("\n");
@ -880,7 +880,7 @@ int EtherCAT_receive(EtherCAT_master_t *master)
@param node_address Adresse des Knotens (Slaves)
@param offset Physikalische Speicheradresse im Slave
@param length Länge der zu lesenden Daten
@return Adresse des Kommandos bei Erfolg, sonst NULL
*/
@ -914,7 +914,7 @@ EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *master,
@param offset Physikalische Speicheradresse im Slave
@param length Länge der zu schreibenden Daten
@param data Zeiger auf Speicher mit zu schreibenden Daten
@return Adresse des Kommandos bei Erfolg, sonst NULL
*/
@ -948,7 +948,7 @@ EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *master,
@param ring_position (Negative) Position des Slaves im Bus
@param offset Physikalische Speicheradresse im Slave
@param length Länge der zu lesenden Daten
@return Adresse des Kommandos bei Erfolg, sonst NULL
*/
@ -979,7 +979,7 @@ EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *master,
@param offset Physikalische Speicheradresse im Slave
@param length Länge der zu schreibenden Daten
@param data Zeiger auf Speicher mit zu schreibenden Daten
@return Adresse des Kommandos bei Erfolg, sonst NULL
*/
@ -1009,7 +1009,7 @@ EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *master,
@param master EtherCAT-Master
@param offset Physikalische Speicheradresse im Slave
@param length Länge der zu lesenden Daten
@return Adresse des Kommandos bei Erfolg, sonst NULL
*/
@ -1038,7 +1038,7 @@ EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *master,
@param offset Physikalische Speicheradresse im Slave
@param length Länge der zu schreibenden Daten
@param data Zeiger auf Speicher mit zu schreibenden Daten
@return Adresse des Kommandos bei Erfolg, sonst NULL
*/
@ -1068,7 +1068,7 @@ EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *master,
@param offset Logische Speicheradresse
@param length Länge der zu lesenden/schreibenden Daten
@param data Zeiger auf Speicher mit zu lesenden/schreibenden Daten
@return Adresse des Kommandos bei Erfolg, sonst NULL
*/
@ -1094,7 +1094,7 @@ EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *master,
reserviert es und gibt dessen Adresse zurück.
@param master EtherCAT-Master
@return Adresse des Kommandos bei Erfolg, sonst NULL
*/
@ -1103,7 +1103,7 @@ EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *master)
int j;
for (j = 0; j < ECAT_COMMAND_RING_SIZE; j++) // Einmal rum suchen
{
{
// Solange suchen, bis freies Kommando gefunden
if (master->cmd_reserved[master->cmd_ring_index] == 0)
{
@ -1180,7 +1180,7 @@ int add_command(EtherCAT_master_t *master,
@param master EtherCAT-Master
@param rem_cmd Zeiger auf das zu entfernende Kommando
@return 0 bei Erfolg, sonst < 0
*/
@ -1229,7 +1229,7 @@ void EtherCAT_remove_command(EtherCAT_master_t *master,
@param slave Slave, dessen Zustand geändert werden soll
@param state_and_ack Neuer Zustand, evtl. mit gesetztem
Acknowledge-Flag
@return 0 bei Erfolg, sonst < 0
*/
@ -1254,7 +1254,7 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
if (EtherCAT_async_send_receive(master) != 0)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n", state_and_ack);
return -2;
}
@ -1262,12 +1262,12 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Device did not respond!\n", state_and_ack);
return -3;
}
EtherCAT_remove_command(master, cmd);
EtherCAT_remove_command(master, cmd);
slave->requested_state = state_and_ack & 0x0F;
@ -1283,19 +1283,19 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Out of memory!\n", state_and_ack);
return -1;
}
if (EtherCAT_async_send_receive(master) != 0)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Unable to send!\n", state_and_ack);
return -2;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Could not check state %02X - Device did not respond!\n", state_and_ack);
return -3;
}
@ -1303,7 +1303,7 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
if (cmd->data[0] & 0x10) // State change error
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Could not set state %02X - Device refused state change (code %02X)!\n", state_and_ack, cmd->data[0]);
return -4;
}
@ -1311,12 +1311,12 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
if (cmd->data[0] == (state_and_ack & 0x0F)) // State change successful
{
EtherCAT_remove_command(master, cmd);
break;
}
EtherCAT_remove_command(master, cmd);
tries_left--;
}
@ -1342,7 +1342,7 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
@param master EtherCAT-Master
@param slave Zu aktivierender Slave
@return 0 bei Erfolg, sonst < 0
*/
@ -1371,14 +1371,14 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not respond!\n",
slave->station_address);
return -2;
@ -1398,14 +1398,14 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not respond!\n",
slave->station_address);
return -2;
@ -1422,23 +1422,23 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0)) == NULL)
return -1;
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n",
slave->station_address);
return -3;
}
EtherCAT_remove_command(master, cmd);
}
@ -1446,23 +1446,23 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1)) == NULL)
return -1;
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n",
slave->station_address);
return -2;
}
EtherCAT_remove_command(master, cmd);
}
}
@ -1481,7 +1481,7 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
memcpy(fmmu, desc->fmmu0, 16);
fmmu[0] = slave->logical_address0 & 0x000000FF;
fmmu[1] = (slave->logical_address0 & 0x0000FF00) >> 8;
fmmu[1] = (slave->logical_address0 & 0x0000FF00) >> 8;
fmmu[2] = (slave->logical_address0 & 0x00FF0000) >> 16;
fmmu[3] = (slave->logical_address0 & 0xFF000000) >> 24;
@ -1491,14 +1491,14 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not respond!\n",
slave->station_address);
return -2;
@ -1515,23 +1515,23 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0800, 8, desc->sm0)) == NULL)
return -1;
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not respond!\n",
slave->station_address);
return -3;
}
EtherCAT_remove_command(master, cmd);
}
@ -1539,48 +1539,48 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0808, 8, desc->sm1)) == NULL)
return -1;
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not respond!\n",
slave->station_address);
return -3;
}
EtherCAT_remove_command(master, cmd);
}
}
if (desc->sm2)
{
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0810, 8, desc->sm2)) == NULL)
return -1;
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not respond!\n",
slave->station_address);
return -3;
}
EtherCAT_remove_command(master, cmd);
}
@ -1588,23 +1588,23 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if ((cmd = EtherCAT_write(master, slave->station_address, 0x0818, 8, desc->sm3)) == NULL)
return -1;
if (EtherCAT_async_send_receive(master) < 0)
{
EtherCAT_remove_command(master, cmd);
return -1;
}
if (cmd->working_counter != 1)
{
EtherCAT_remove_command(master, cmd);
EC_DBG(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not respond!\n",
slave->station_address);
return -3;
}
EtherCAT_remove_command(master, cmd);
}
@ -1630,7 +1630,7 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
@param master EtherCAT-Master
@param slave Zu deaktivierender Slave
@return 0 bei Erfolg, sonst < 0
*/
@ -1653,7 +1653,7 @@ int EtherCAT_deactivate_slave(EtherCAT_master_t *master,
@see EtherCAT_activate_slave
@param master EtherCAT-Master
@return 0 bei Erfolg, sonst < 0
*/
@ -1680,7 +1680,7 @@ int EtherCAT_activate_all_slaves(EtherCAT_master_t *master)
@see EtherCAT_deactivate_slave
@param master EtherCAT-Master
@return 0 bei Erfolg, sonst < 0
*/
@ -1709,7 +1709,7 @@ int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *master)
Prozessdaten des Masters und sendet es an den Bus.
@param master EtherCAT-Master
@return 0 bei Erfolg, sonst < 0
*/
@ -1753,7 +1753,7 @@ int EtherCAT_write_process_data(EtherCAT_master_t *master)
des Masters.
@param master EtherCAT-Master
@return 0 bei Erfolg, sonst < 0
*/