bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
ethercat/master/slave.c

791 lines
23 KiB
C
Raw Blame History

/******************************************************************************
*
* s l a v e . c
*
* Methoden für einen EtherCAT-Slave.
*
* $Id$
*
*****************************************************************************/
#include <linux/module.h>
#include <linux/delay.h>
#include "globals.h"
#include "slave.h"
#include "command.h"
#include "master.h"
/*****************************************************************************/
int ec_slave_fetch_categories(ec_slave_t *);
int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);
int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);
void ec_slave_fetch_fmmu(ec_slave_t *, const uint8_t *);
void ec_slave_fetch_sync(ec_slave_t *, const uint8_t *);
void ec_slave_fetch_txpdo(ec_slave_t *, const uint8_t *);
void ec_slave_fetch_rxpdo(ec_slave_t *, const uint8_t *);
int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
/*****************************************************************************/
/**
EtherCAT-Slave-Konstruktor.
*/
void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
ec_master_t *master /**< EtherCAT-Master */
)
{
slave->master = master;
slave->base_type = 0;
slave->base_revision = 0;
slave->base_build = 0;
slave->base_fmmu_count = 0;
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;
slave->sii_serial_number = 0;
slave->type = NULL;
slave->registered = 0;
slave->fmmu_count = 0;
INIT_LIST_HEAD(&slave->eeprom_strings);
slave->eeprom_name = NULL;
slave->eeprom_group = NULL;
slave->eeprom_desc = NULL;
}
/*****************************************************************************/
/**
EtherCAT-Slave-Destruktor.
*/
void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_slave_string_t *string, *next;
// Alle Strings freigeben
list_for_each_entry_safe(string, next, &slave->eeprom_strings, list) {
list_del(&string->list);
kfree(string);
}
if (slave->eeprom_name) kfree(slave->eeprom_name);
if (slave->eeprom_group) kfree(slave->eeprom_group);
if (slave->eeprom_desc) kfree(slave->eeprom_desc);
}
/*****************************************************************************/
/**
Liest alle benötigten Informationen aus einem Slave.
\return 0 wenn alles ok, < 0 bei Fehler.
*/
int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_command_t command;
// Read base data
ec_command_init_nprd(&command, slave->station_address, 0x0000, 6);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("Reading base datafrom slave %i failed!\n",
slave->ring_position);
return -1;
}
slave->base_type = EC_READ_U8 (command.data);
slave->base_revision = EC_READ_U8 (command.data + 1);
slave->base_build = EC_READ_U16(command.data + 2);
slave->base_fmmu_count = EC_READ_U8 (command.data + 4);
slave->base_sync_count = EC_READ_U8 (command.data + 5);
if (slave->base_fmmu_count > EC_MAX_FMMUS)
slave->base_fmmu_count = EC_MAX_FMMUS;
// 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;
}
if (unlikely(ec_slave_sii_read(slave, 0x000A, &slave->sii_product_code))) {
EC_ERR("Could not read SII product code!\n");
return -1;
}
if (unlikely(ec_slave_sii_read(slave, 0x000C,
&slave->sii_revision_number))) {
EC_ERR("Could not read SII revision number!\n");
return -1;
}
if (unlikely(ec_slave_sii_read(slave, 0x000E,
&slave->sii_serial_number))) {
EC_ERR("Could not read SII serial number!\n");
return -1;
}
if (unlikely(ec_slave_fetch_categories(slave))) {
EC_ERR("Could not fetch category data!\n");
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Liest Daten aus dem Slave-Information-Interface
eines EtherCAT-Slaves.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_sii_read(ec_slave_t *slave,
/**< EtherCAT-Slave */
uint16_t offset,
/**< Adresse des zu lesenden SII-Registers */
uint32_t *target
/**< Zeiger auf einen 4 Byte groÂŽßen Speicher zum Ablegen
der Daten */
)
{
ec_command_t command;
uint8_t data[10];
cycles_t start, end, timeout;
// Initiate read operation
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))) {
EC_ERR("SII-read 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 = (cycles_t) 100 * cpu_khz; // 100ms
while (1)
{
udelay(10);
ec_command_init_nprd(&command, slave->station_address, 0x502, 10);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("Getting SII-read status failed on slave %i!\n",
slave->ring_position);
return -1;
}
end = get_cycles();
if (likely((EC_READ_U8(command.data + 1) & 0x81) == 0)) {
*target = EC_READ_U32(command.data + 6);
return 0;
}
if (unlikely((end - start) >= timeout)) {
EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);
return -1;
}
}
}
/*****************************************************************************/
/**
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 = (cycles_t) 100 * cpu_khz; // 100ms
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("SII-write: Slave %i timed out!\n", slave->ring_position);
return -1;
}
}
}
/*****************************************************************************/
/**
Holt Daten aus dem EEPROM.
\return 0, wenn alles ok, sonst < 0
*/
int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT-Slave */)
{
uint16_t word_offset, header, word_count;
uint32_t value;
uint8_t *cat_data;
unsigned int i;
word_offset = 0x0040;
//EC_DBG("Slave %i...\n", slave->ring_position);
if (!(cat_data = (uint8_t *) kmalloc(0x10000, GFP_KERNEL))) {
EC_ERR("Failed to allocate 64k bytes for category data.\n");
return -1;
}
while (1) {
// read category header
if (ec_slave_sii_read(slave, word_offset, &value)) {
EC_ERR("Unable to read category header and size.\n");
goto out_free;
}
// Last category?
if ((value & 0xFFFF) == 0xFFFF) break;
header = value & 0x7FFF;
word_count = (value >> 16) & 0xFFFF;
// Fetch category data
for (i = 0; i < word_count; i++) {
if (ec_slave_sii_read(slave, word_offset + 2 + i, &value)) {
EC_ERR("Unable to read category data word %i.\n", i);
goto out_free;
}
cat_data[i * 2] = (value >> 0) & 0xFF;
cat_data[i * 2 + 1] = (value >> 8) & 0xFF;
// read second word "on the fly"
if (i + 1 < word_count) {
i++;
cat_data[i * 2] = (value >> 16) & 0xFF;
cat_data[i * 2 + 1] = (value >> 24) & 0xFF;
}
}
switch (header)
{
case 0x000A:
if (ec_slave_fetch_strings(slave, cat_data))
goto out_free;
break;
case 0x001E:
case 0x0001:
if (ec_slave_fetch_general(slave, cat_data))
goto out_free;
break;
case 0x0028:
case 0x0002:
ec_slave_fetch_fmmu(slave, cat_data);
break;
case 0x0029:
case 0x0003:
ec_slave_fetch_sync(slave, cat_data);
break;
case 0x0032:
case 0x0004:
ec_slave_fetch_txpdo(slave, cat_data);
break;
case 0x0033:
case 0x0005:
ec_slave_fetch_rxpdo(slave, cat_data);
break;
default:
EC_WARN("Unknown category header 0x%04X in slave %i.\n",
header, slave->ring_position);
}
word_offset += 2 + word_count;
}
kfree(cat_data);
return 0;
out_free:
kfree(cat_data);
return -1;
}
/*****************************************************************************/
/**
Holt die Daten einer String-Kategorie.
\return 0 wenn alles ok, sonst < 0
*/
int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategoriedaten */
)
{
unsigned int string_count, i;
size_t size;
off_t offset;
ec_slave_string_t *string;
string_count = data[0];
offset = 1;
for (i = 0; i < string_count; i++) {
size = data[offset];
// Speicher für String-Objekt und Daten in einem Rutsch allozieren
if (!(string = (ec_slave_string_t *) kmalloc(sizeof(ec_slave_string_t)
+ size + 1,
GFP_KERNEL))) {
EC_ERR("Failed to allocate string memory.\n");
return -1;
}
string->size = size;
string->data = (char *) string + sizeof(ec_slave_string_t);
memcpy(string->data, data + offset + 1, size);
string->data[size] = 0x00;
list_add_tail(&string->list, &slave->eeprom_strings);
offset += 1 + size;
}
return 0;
}
/*****************************************************************************/
/**
Holt die Daten einer General-Kategorie.
*/
int ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategorie-Daten */
)
{
if (ec_slave_locate_string(slave, data[0], &slave->eeprom_group))
return -1;
if (ec_slave_locate_string(slave, data[1], &slave->eeprom_name))
return -1;
if (ec_slave_locate_string(slave, data[3], &slave->eeprom_desc))
return -1;
return 0;
}
/*****************************************************************************/
/**
Holt die Daten einer FMMU-Kategorie.
*/
void ec_slave_fetch_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategorie-Daten */
)
{
}
/*****************************************************************************/
/**
Holt die Daten einer Sync-Manager-Kategorie.
*/
void ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategorie-Daten */
)
{
}
/*****************************************************************************/
/**
Holt die Daten einer TXPDO-Kategorie.
*/
void ec_slave_fetch_txpdo(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategorie-Daten */
)
{
}
/*****************************************************************************/
/**
Holt die Daten einer RXPDO-Kategorie.
*/
void ec_slave_fetch_rxpdo(ec_slave_t *slave, /**< EtherCAT-Slave */
const uint8_t *data /**< Kategorie-Daten */
)
{
}
/*****************************************************************************/
/**
Durchsucht die temporären Strings und dupliziert den gefundenen String.
*/
int ec_slave_locate_string(ec_slave_t *slave, unsigned int index, char **ptr)
{
ec_slave_string_t *string;
if (*ptr) {
kfree(*ptr);
*ptr = NULL;
}
if (!index) return 0;
list_for_each_entry(string, &slave->eeprom_strings, list) {
if (!(--index)) {
if (!(*ptr = (char *) kmalloc(string->size + 1, GFP_KERNEL))) {
EC_ERR("Unable to allocate string memory.\n");
return -1;
}
memcpy(*ptr, string->data, string->size + 1);
break;
}
}
return 0;
}
/*****************************************************************************/
/**
Bestätigt einen Fehler beim Zustandswechsel.
\todo Funktioniert noch nicht...
*/
void ec_slave_state_ack(ec_slave_t *slave,
/**< Slave, dessen Zustand geändert werden soll */
uint8_t state
/**< Alter Zustand */
)
{
ec_command_t command;
uint8_t data[2];
cycles_t start, end, timeout;
EC_WRITE_U16(data, state | EC_ACK);
ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_WARN("State %02X acknowledge failed on slave %i!\n",
state, slave->ring_position);
return;
}
start = get_cycles();
timeout = (cycles_t) 10 * cpu_khz; // 10ms
while (1)
{
udelay(100); // Dem Slave etwas Zeit lassen...
ec_command_init_nprd(&command, slave->station_address, 0x0130, 2);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_WARN("State %02X acknowledge checking failed on slave %i!\n",
state, slave->ring_position);
return;
}
end = get_cycles();
if (unlikely(EC_READ_U8(command.data) != state)) {
EC_WARN("Could not acknowledge state %02X on slave %i (code"
" %02X)!\n", state, slave->ring_position,
EC_READ_U8(command.data));
return;
}
if (likely(EC_READ_U8(command.data) == state)) {
EC_INFO("Acknowleged state %02X on slave %i.\n", state,
slave->ring_position);
return;
}
if (unlikely((end - start) >= timeout)) {
EC_WARN("Could not check state acknowledgement %02X of slave %i -"
" Timeout while checking!\n", state, slave->ring_position);
return;
}
}
}
/*****************************************************************************/
/**
Ändert den Zustand eines Slaves.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_state_change(ec_slave_t *slave,
/**< Slave, dessen Zustand geändert werden soll */
uint8_t state
/**< Neuer Zustand */
)
{
ec_command_t command;
uint8_t data[2];
cycles_t start, end, timeout;
EC_WRITE_U16(data, state);
ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("Failed to set state %02X on slave %i!\n",
state, slave->ring_position);
return -1;
}
start = get_cycles();
timeout = (cycles_t) 10 * cpu_khz; // 10ms
while (1)
{
udelay(100); // Dem Slave etwas Zeit lassen...
ec_command_init_nprd(&command, slave->station_address, 0x0130, 2);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_ERR("Failed to check state %02X on slave %i!\n",
state, slave->ring_position);
return -1;
}
end = get_cycles();
if (unlikely(EC_READ_U8(command.data) & 0x10)) { // State change error
EC_ERR("Could not set state %02X - Slave %i refused state change"
" (code %02X)!\n", state, slave->ring_position,
EC_READ_U8(command.data));
ec_slave_state_ack(slave, EC_READ_U8(command.data) & 0x0F);
return -1;
}
if (likely(EC_READ_U8(command.data) == (state & 0x0F))) {
// State change successful
return 0;
}
if (unlikely((end - start) >= timeout)) {
EC_ERR("Could not check state %02X of slave %i - Timeout!\n",
state, slave->ring_position);
return -1;
}
}
}
/*****************************************************************************/
/**
Merkt eine FMMU-Konfiguration vor.
Die FMMU wird so konfiguriert, dass sie den gesamten Datenbereich des
entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate
FMMUs konfiguriert.
Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als
Erfolg zurückgegeben.
\return 0 bei Erfolg, sonst < 0
*/
int ec_slave_set_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
const ec_domain_t *domain, /**< Domäne */
const ec_sync_t *sync /**< Sync-Manager */
)
{
unsigned int i;
// FMMU schon vorgemerkt?
for (i = 0; i < slave->fmmu_count; i++)
if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
return 0;
// Neue FMMU reservieren...
if (slave->fmmu_count >= slave->base_fmmu_count) {
EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
return -1;
}
slave->fmmus[slave->fmmu_count].domain = domain;
slave->fmmus[slave->fmmu_count].sync = sync;
slave->fmmus[slave->fmmu_count].logical_start_address = 0;
slave->fmmu_count++;
slave->registered = 1;
return 0;
}
/*****************************************************************************/
/**
Gibt alle Informationen über einen EtherCAT-Slave aus.
*/
void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
{
EC_INFO("x-- EtherCAT slave information ---------------\n");
if (slave->type) {
EC_INFO("| Vendor \"%s\", Product \"%s\": %s\n",
slave->type->vendor_name, slave->type->product_name,
slave->type->description);
}
else {
EC_INFO("| *** This slave has no type information! ***\n");
}
EC_INFO("| Ring position: %i, Station address: 0x%04X\n",
slave->ring_position, slave->station_address);
EC_INFO("| Base information:\n");
EC_INFO("| Type %u, Revision %i, Build %i\n",
slave->base_type, slave->base_revision, slave->base_build);
EC_INFO("| Supported FMMUs: %i, Sync managers: %i\n",
slave->base_fmmu_count, slave->base_sync_count);
EC_INFO("| EEPROM data:\n");
if (slave->sii_alias)
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",
slave->sii_revision_number, slave->sii_serial_number);
if (slave->eeprom_name)
EC_INFO("| Name: %s\n", slave->eeprom_name);
if (slave->eeprom_group)
EC_INFO("| Group: %s\n", slave->eeprom_group);
if (slave->eeprom_desc)
EC_INFO("| Description: %s\n", slave->eeprom_desc);
EC_INFO("x---------------------------------------------\n");
}
/*****************************************************************************/
/**
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_command_t command;
uint8_t data[4];
ec_command_init_nprd(&command, slave->station_address, 0x0300, 4);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_WARN("Reading CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
}
// No CRC faults.
if (!EC_READ_U16(command.data) && !EC_READ_U16(command.data + 2)) return 0;
EC_WARN("CRC faults on slave %i. A: %i, B: %i\n", slave->ring_position,
EC_READ_U16(command.data), EC_READ_U16(command.data + 2));
// Reset CRC counters
EC_WRITE_U16(data, 0x0000);
EC_WRITE_U16(data + 2, 0x0000);
ec_command_init_npwr(&command, slave->station_address, 0x0300, 4, data);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
}
return 0;
}
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/
Reference in New Issue View Git Blame Copy Permalink