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ethercat
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This commit is contained in:
Florian Pose 2006-01-05 14:11:25 +00:00
parent 3b3b3b1ed1
commit f468f24685
5 changed files with 130 additions and 235 deletions
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120
drivers/ec_master.c
View File

@ -706,17 +706,16 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
0x0120, 2, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) != 0)) {
printk(KERN_ERR "EtherCAT: Could not set state %02X -"
" Unable to send!\n", state_and_ack);
return -2;
printk(KERN_ERR "EtherCAT: Could not set state %02X - Unable to send!\n",
state_and_ack);
return -1;
}
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not set state %02X -"
" Device \"%s %s\" (%d) did not respond!\n",
state_and_ack, slave->desc->vendor_name,
slave->desc->product_name, slave->ring_position*(-1));
return -3;
printk(KERN_ERR "EtherCAT: Could not set state %02X - Device \"%s %s\""
" (%d) did not respond!\n", state_and_ack, slave->desc->vendor_name,
slave->desc->product_name, slave->ring_position * (-1));
return -1;
}
slave->requested_state = state_and_ack & 0x0F;
@ -729,23 +728,21 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
EtherCAT_command_read(&cmd, slave->station_address, 0x0130, 2);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) != 0)) {
printk(KERN_ERR "EtherCAT: Could not check"
" state %02X - Unable to send!\n", state_and_ack);
return -2;
printk(KERN_ERR "EtherCAT: Could not check state %02X - Unable to"
" send!\n", state_and_ack);
return -1;
}
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not check"
" state %02X - Device did not respond!\n",
state_and_ack);
return -3;
printk(KERN_ERR "EtherCAT: Could not check state %02X - Device did not"
" respond!\n", state_and_ack);
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]);
return -4;
printk(KERN_ERR "EtherCAT: Could not set state %02X - Device refused"
" state change (code %02X)!\n", state_and_ack, cmd.data[0]);
return -1;
}
if (likely(cmd.data[0] == (state_and_ack & 0x0F))) {
@ -757,9 +754,9 @@ int EtherCAT_state_change(EtherCAT_master_t *master,
}
if (unlikely(!tries_left)) {
printk(KERN_ERR "EtherCAT: Could not check state %02X -"
" Timeout while checking!\n", state_and_ack);
return -5;
printk(KERN_ERR "EtherCAT: Could not check state %02X - Timeout while"
" checking!\n", state_and_ack);
return -1;
}
slave->current_state = state_and_ack & 0x0F;
@ -792,24 +789,21 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
desc = slave->desc;
if (unlikely(EtherCAT_state_change(master, slave,
ECAT_STATE_INIT) != 0))
if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_INIT) != 0))
return -1;
// Resetting FMMU's
memset(data, 0x00, 256);
EtherCAT_command_write(&cmd, slave->station_address,
0x0600, 256, data);
EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 256, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Resetting FMMUs -"
" Slave %04X did not respond!\n",
slave->station_address);
printk(KERN_ERR "EtherCAT: Resetting FMMUs - Slave %04X did not"
" respond!\n", slave->station_address);
return -1;
}
@ -819,16 +813,14 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
memset(data, 0x00, 256);
EtherCAT_command_write(&cmd, slave->station_address,
0x0800, 256, data);
EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 256, data);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Resetting SMs -"
" Slave %04X did not respond!\n",
slave->station_address);
printk(KERN_ERR "EtherCAT: Resetting SMs - Slave %04X did not"
" respond!\n", slave->station_address);
return -1;
}
}
@ -839,24 +831,23 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if (desc->sm0)
{
EtherCAT_command_write(&cmd, slave->station_address,
0x0800, 8, desc->sm0);
EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8,
desc->sm0);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Setting SM0 -"
" Slave %04X did not respond!\n",
slave->station_address);
printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not"
" respond!\n", slave->station_address);
return -1;
}
}
if (desc->sm1)
{
EtherCAT_command_write(&cmd, slave->station_address,
0x0808, 8, desc->sm1);
EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8,
desc->sm1);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
@ -872,8 +863,7 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
// Change state to PREOP
if (unlikely(EtherCAT_state_change(master, slave,
ECAT_STATE_PREOP) != 0))
if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_PREOP) != 0))
return -1;
// Set FMMU's
@ -893,16 +883,14 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
fmmu[2] = (slave->logical_address & 0x00FF0000) >> 16;
fmmu[3] = (slave->logical_address & 0xFF000000) >> 24;
EtherCAT_command_write(&cmd, slave->station_address,
0x0600, 16, fmmu);
EtherCAT_command_write(&cmd, slave->station_address, 0x0600, 16, fmmu);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Setting FMMU0 -"
" Slave %04X did not respond!\n",
slave->station_address);
printk(KERN_ERR "EtherCAT: Setting FMMU0 - Slave %04X did not"
" respond!\n", slave->station_address);
return -1;
}
}
@ -913,32 +901,30 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
{
if (desc->sm0)
{
EtherCAT_command_write(&cmd, slave->station_address,
0x0800, 8, desc->sm0);
EtherCAT_command_write(&cmd, slave->station_address, 0x0800, 8,
desc->sm0);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Setting SM0 -"
" Slave %04X did not respond!\n",
slave->station_address);
printk(KERN_ERR "EtherCAT: Setting SM0 - Slave %04X did not"
" respond!\n", slave->station_address);
return -1;
}
}
if (desc->sm1)
{
EtherCAT_command_write(&cmd, slave->station_address,
0x0808, 8, desc->sm1);
EtherCAT_command_write(&cmd, slave->station_address, 0x0808, 8,
desc->sm1);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Setting SM1 -"
" Slave %04X did not respond!\n",
slave->station_address);
printk(KERN_ERR "EtherCAT: Setting SM1 - Slave %04X did not"
" respond!\n", slave->station_address);
return -1;
}
}
@ -946,15 +932,13 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
if (desc->sm2)
{
EtherCAT_command_write(&cmd, slave->station_address,
0x0810, 8, desc->sm2);
EtherCAT_command_write(&cmd, slave->station_address, 0x0810, 8, desc->sm2);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Setting SM2 -"
" Slave %04X did not respond!\n",
printk(KERN_ERR "EtherCAT: Setting SM2 - Slave %04X did not respond!\n",
slave->station_address);
return -1;
}
@ -962,28 +946,24 @@ int EtherCAT_activate_slave(EtherCAT_master_t *master,
if (desc->sm3)
{
EtherCAT_command_write(&cmd, slave->station_address,
0x0818, 8, desc->sm3);
EtherCAT_command_write(&cmd, slave->station_address, 0x0818, 8, desc->sm3);
if (unlikely(EtherCAT_simple_send_receive(master, &cmd) < 0))
return -1;
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Setting SM3 -"
" Slave %04X did not respond!\n",
printk(KERN_ERR "EtherCAT: Setting SM3 - Slave %04X did not respond!\n",
slave->station_address);
return -1;
}
}
// Change state to SAVEOP
if (unlikely(EtherCAT_state_change(master, slave,
ECAT_STATE_SAVEOP) != 0))
if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_SAVEOP) != 0))
return -1;
// Change state to OP
if (unlikely(EtherCAT_state_change(master, slave,
ECAT_STATE_OP) != 0))
if (unlikely(EtherCAT_state_change(master, slave, ECAT_STATE_OP) != 0))
return -1;
return 0;

151
rt/msr_jitter.c
View File

@ -1,58 +1,20 @@
/**************************************************************************************************
*
* msr_jitter.c
*
*
* Autor: Wilhelm Hagemeister
*
* (C) Copyright IgH 2002
* Ingenieurgemeinschaft IgH
* Heinz-B<EFBFBD>äcker Str. 34
* D-45356 Essen
* Tel.: +49 201/61 99 31
* Fax.: +49 201/61 98 36
* E-mail: hm@igh-essen.com
*
*
* $RCSfile: msr_adeos_latency.c,v $
* $Revision: 1.3 $
* $Author: hm $
* $Date: 2005/12/07 20:13:53 $
* $State: Exp $
*
*
* $Log: msr_adeos_latency.c,v $
* Revision 1.3 2005/12/07 20:13:53 hm
* *** empty log message ***
*
* Revision 1.2 2005/12/07 15:56:13 hm
* *** empty log message ***
*
* Revision 1.1 2005/12/07 08:43:40 hm
* Initial revision
*
* Revision 1.5 2005/11/14 20:28:09 hm
* *** empty log message ***
*
* Revision 1.4 2005/11/13 10:34:07 hm
* *** empty log message ***
*
* Revision 1.3 2005/11/12 20:52:46 hm
* *** empty log message ***
*
* Revision 1.2 2005/11/12 20:51:27 hm
* *** empty log message ***
*
* Revision 1.1 2005/11/12 19:16:02 hm
* Initial revision
*
* Revision 1.13 2005/06/17 11:35:13 hm
* *** empty log message ***
*
*
*
*
**************************************************************************************************/
/******************************************************************************
*
* msr_jitter.c
*
* Autor: Wilhelm Hagemeister
*
* (C) Copyright IgH 2002
* Ingenieurgemeinschaft IgH
* Heinz-B<EFBFBD>äcker Str. 34
* D-45356 Essen
* Tel.: +49 201/61 99 31
* Fax.: +49 201/61 98 36
* E-mail: hm@igh-essen.com
*
* $Id$
*
*****************************************************************************/
#ifndef __KERNEL__
# define __KERNEL__
@ -71,27 +33,24 @@
#include <msr_reg.h>
#include "msr_jitter.h"
/*--includes-------------------------------------------------------------------------------------*/
/*--includes-----------------------------------------------------------------*/
/*--external functions---------------------------------------------------------------------------*/
/*--external functions-------------------------------------------------------*/
/*--external data--------------------------------------------------------------------------------*/
/*--external data------------------------------------------------------------*/
/*--public data----------------------------------------------------------------------------------*/
/*--public data--------------------------------------------------------------*/
/*--local data-----------------------------------------------------------------------------------*/
/*--local data---------------------------------------------------------------*/
#define NUMCLASSES 16
static int jittime[NUMCLASSES]={0,1,2,5,10,20,50,100,200,500,1000,2000,5000,10000,20000,50000}; //in usec
static int jittime[NUMCLASSES]={0,1,2,5,10,20,50,100,200,500,
1000,2000,5000,10000,20000,50000}; //in usec
static int jitcount[NUMCLASSES];
static double jitpercent[NUMCLASSES];
static unsigned int tcount = 1;
static void msr_jit_read(void)
{
int i;
@ -104,27 +63,28 @@ static void msr_jit_read(void)
void msr_jitter_init(void)
{
msr_reg_int_list("/Taskinfo/Jitter/Classes","usec",&jittime[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
msr_reg_int_list("/Taskinfo/Jitter/Count","",&jitcount[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
msr_reg_dbl_list("/Taskinfo/Jitter/percent","%",&jitpercent[0],MSR_R,NUMCLASSES,NULL,NULL,&msr_jit_read);
msr_reg_int_list("/Taskinfo/Jitter/Classes","usec",
&jittime[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
msr_reg_int_list("/Taskinfo/Jitter/Count","",
&jitcount[0],MSR_R,NUMCLASSES,NULL,NULL,NULL);
msr_reg_dbl_list("/Taskinfo/Jitter/percent","%",
&jitpercent[0],MSR_R,NUMCLASSES,NULL,NULL,&msr_jit_read);
}
/*
***************************************************************************************************
*
* Function: msr_jitter_run
*
* Beschreibung:
*
*
* Parameter: Zeiger auf msr_data
*
* R<EFBFBD>ückgabe:
*
* Status: exp
*
***************************************************************************************************
*/
/******************************************************************************
*
* Function: msr_jitter_run
*
* Beschreibung:
*
*
* Parameter: Zeiger auf msr_data
*
* R<EFBFBD>ückgabe:
*
* Status: exp
*
*****************************************************************************/
void msr_jitter_run(unsigned int hz) {
@ -140,9 +100,11 @@ void msr_jitter_run(unsigned int hz) {
//Zeitabstand zwischen zwei Interrupts in usec
dt = ((unsigned long)(100000/HZ)*((unsigned long)(k-j)))/(current_cpu_data.loops_per_jiffy/10);
dt = ((unsigned long)(100000/HZ)*((unsigned long)(k-j)))
/(current_cpu_data.loops_per_jiffy/10);
jitter = (unsigned int)abs((int)dt-(int)1000000/hz); //jitter errechnet zum Sollabtastrate
jitter = (unsigned int)abs((int)dt-(int)1000000/hz);
//jitter errechnet zum Sollabtastrate
//in die Klassen einsortieren
if(!firstrun) { //das erste mal nicht einsortieren
@ -165,20 +127,3 @@ void msr_jitter_run(unsigned int hz) {
}

74
rt/msr_jitter.h
View File

@ -1,60 +1,22 @@
/**************************************************************************************************
*
* msr_jitter.c
*
*
* Autor: Wilhelm Hagemeister
*
* (C) Copyright IgH 2002
* Ingenieurgemeinschaft IgH
* Heinz-Bäcker Str. 34
* D-45356 Essen
* Tel.: +49 201/61 99 31
* Fax.: +49 201/61 98 36
* E-mail: hm@igh-essen.com
*
*
* $RCSfile: msr_adeos_latency.c,v $
* $Revision: 1.3 $
* $Author: hm $
* $Date: 2005/12/07 20:13:53 $
* $State: Exp $
*
*
* $Log: msr_adeos_latency.c,v $
* Revision 1.3 2005/12/07 20:13:53 hm
* *** empty log message ***
*
* Revision 1.2 2005/12/07 15:56:13 hm
* *** empty log message ***
*
* Revision 1.1 2005/12/07 08:43:40 hm
* Initial revision
*
* Revision 1.5 2005/11/14 20:28:09 hm
* *** empty log message ***
*
* Revision 1.4 2005/11/13 10:34:07 hm
* *** empty log message ***
*
* Revision 1.3 2005/11/12 20:52:46 hm
* *** empty log message ***
*
* Revision 1.2 2005/11/12 20:51:27 hm
* *** empty log message ***
*
* Revision 1.1 2005/11/12 19:16:02 hm
* Initial revision
*
* Revision 1.13 2005/06/17 11:35:13 hm
* *** empty log message ***
*
*
*
*
**************************************************************************************************/
/******************************************************************************
*
* msr_jitter.c
*
* Autor: Wilhelm Hagemeister
*
* (C) Copyright IgH 2002
* Ingenieurgemeinschaft IgH
* Heinz-Bäcker Str. 34
* D-45356 Essen
* Tel.: +49 201/61 99 31
* Fax.: +49 201/61 98 36
* E-mail: hm@igh-essen.com
*
* $Id$
*
*****************************************************************************/
/*--Schutz vor mehrfachem includieren------------------------------------------------------------*/
/*--Schutz vor mehrfachem includieren----------------------------------------*/
#ifndef _MSR_JITTER_H_
#define _MSR_JITTER_H_

9
rt/msr_module.c Executable file → Normal file
View File

@ -399,6 +399,7 @@ int __init init_module()
for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
if (EtherCAT_activate_slave(ecat_master, ecat_slaves + i) < 0) {
printk(KERN_ERR "EtherCAT: Could not activate slave %i!\n", i);
goto out_release_master;
}
}
@ -436,10 +437,10 @@ void __exit cleanup_module()
ipipe_tune_timer(1000000000UL/HZ,0); //alten Timertakt wieder herstellen
ipipe_unregister_domain(&this_domain);
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
if (ecat_master)
{
printk(KERN_INFO "=== Stopping EtherCAT environment... ===\n");
printk(KERN_INFO "Deactivating slaves.\n");
for (i = 0; i < ECAT_SLAVES_COUNT; i++) {
@ -449,9 +450,9 @@ void __exit cleanup_module()
}
EtherCAT_release(ecat_master);
}
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
printk(KERN_INFO "=== EtherCAT environment stopped. ===\n");
}
#ifdef USE_MSR_LIB
msr_rtlib_cleanup();

11
rt/msr_param.h Executable file → Normal file
View File

@ -1,7 +1,14 @@
/******************************************************************************
*
* $Id$
*
*****************************************************************************/
#ifndef _MSR_PARAM_H_
#define _MSR_PARAM_H_
#define MSR_ABTASTFREQUENZ 10000 //FIXME nur für den Simulator, der virtuelle 10 Mal schneller läuft ....HZ /* Abtastrate der Kan%/1€Œiso8859-15<02>äle in [HZ]*/
#define MSR_ABTASTFREQUENZ 10000
#endif
/*****************************************************************************/