448 lines
13 KiB
C
448 lines
13 KiB
C
/******************************************************************************
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*
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* s l a v e . c
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*
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* Methoden für einen EtherCAT-Slave.
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*
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* $Id$
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*
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*****************************************************************************/
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#include <linux/module.h>
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#include <linux/delay.h>
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#include "../include/EtherCAT_si.h"
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#include "globals.h"
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#include "slave.h"
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#include "frame.h"
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/*****************************************************************************/
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/**
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EtherCAT-Slave-Konstruktor.
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*/
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void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
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ec_master_t *master /**< EtherCAT-Master */
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)
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{
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slave->master = master;
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slave->base_type = 0;
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slave->base_revision = 0;
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slave->base_build = 0;
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slave->base_fmmu_count = 0;
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slave->base_sync_count = 0;
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slave->ring_position = 0;
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slave->station_address = 0;
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slave->sii_vendor_id = 0;
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slave->sii_product_code = 0;
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slave->sii_revision_number = 0;
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slave->sii_serial_number = 0;
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slave->type = NULL;
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slave->registered = 0;
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slave->fmmu_count = 0;
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}
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/*****************************************************************************/
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/**
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EtherCAT-Slave-Destruktor.
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*/
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void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
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{
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// Nichts freizugeben
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}
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/*****************************************************************************/
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/**
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Liest alle benötigten Informationen aus einem Slave.
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\return 0 wenn alles ok, < 0 bei Fehler.
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*/
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int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
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{
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ec_frame_t frame;
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// Read base data
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ec_frame_init_nprd(&frame, slave->master, slave->station_address,
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0x0000, 6);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_ERR("Reading base datafrom slave %i failed!\n",
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slave->ring_position);
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return -1;
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}
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slave->base_type = EC_READ_U8 (frame.data);
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slave->base_revision = EC_READ_U8 (frame.data + 1);
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slave->base_build = EC_READ_U16(frame.data + 2);
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slave->base_fmmu_count = EC_READ_U8 (frame.data + 4);
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slave->base_sync_count = EC_READ_U8 (frame.data + 5);
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if (slave->base_fmmu_count > EC_MAX_FMMUS)
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slave->base_fmmu_count = EC_MAX_FMMUS;
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// Read identification from "Slave Information Interface" (SII)
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if (unlikely(ec_slave_sii_read(slave, 0x0008, &slave->sii_vendor_id))) {
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EC_ERR("Could not read SII vendor id!\n");
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return -1;
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}
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if (unlikely(ec_slave_sii_read(slave, 0x000A, &slave->sii_product_code))) {
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EC_ERR("Could not read SII product code!\n");
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return -1;
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}
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if (unlikely(ec_slave_sii_read(slave, 0x000C,
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&slave->sii_revision_number))) {
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EC_ERR("Could not read SII revision number!\n");
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return -1;
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}
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if (unlikely(ec_slave_sii_read(slave, 0x000E,
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&slave->sii_serial_number))) {
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EC_ERR("Could not read SII serial number!\n");
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return -1;
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}
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return 0;
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}
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/*****************************************************************************/
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/**
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Liest Daten aus dem Slave-Information-Interface
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eines EtherCAT-Slaves.
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\return 0 bei Erfolg, sonst < 0
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*/
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int ec_slave_sii_read(ec_slave_t *slave,
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/**< EtherCAT-Slave */
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unsigned short int offset,
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/**< Adresse des zu lesenden SII-Registers */
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unsigned int *target
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/**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen
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der Daten */
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)
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{
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ec_frame_t frame;
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unsigned char data[10];
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unsigned int tries_left;
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// Initiate read operation
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EC_WRITE_U8 (data, 0x00);
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EC_WRITE_U8 (data + 1, 0x01);
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EC_WRITE_U16(data + 2, offset);
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EC_WRITE_U16(data + 4, 0x0000);
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ec_frame_init_npwr(&frame, slave->master, slave->station_address,
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0x502, 6, data);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
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return -1;
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}
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// Der Slave legt die Informationen des Slave-Information-Interface
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// in das Datenregister und löscht daraufhin ein Busy-Bit. Solange
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// den Status auslesen, bis das Bit weg ist.
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tries_left = 100;
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while (likely(tries_left))
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{
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udelay(10);
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ec_frame_init_nprd(&frame, slave->master, slave->station_address,
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0x502, 10);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_ERR("Getting SII-read status failed on slave %i!\n",
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slave->ring_position);
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return -1;
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}
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if (likely((EC_READ_U8(frame.data + 1) & 0x81) == 0)) {
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memcpy(target, frame.data + 6, 4);
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break;
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}
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tries_left--;
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}
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if (unlikely(!tries_left)) {
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EC_ERR("SSI-read. Slave %i timed out!\n", slave->ring_position);
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return -1;
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}
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return 0;
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}
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/*****************************************************************************/
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/**
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Bestätigt einen Fehler beim Zustandswechsel.
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\todo Funktioniert noch nicht...
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*/
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void ec_slave_state_ack(ec_slave_t *slave,
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/**< Slave, dessen Zustand geändert werden soll */
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uint8_t state
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/**< Alter Zustand */
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)
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{
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ec_frame_t frame;
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unsigned char data[2];
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unsigned int tries_left;
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EC_WRITE_U16(data, state | EC_ACK);
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ec_frame_init_npwr(&frame, slave->master, slave->station_address,
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0x0120, 2, data);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_WARN("State %02X acknowledge failed on slave %i!\n",
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state, slave->ring_position);
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return;
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}
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tries_left = 100;
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while (likely(tries_left))
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{
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udelay(10);
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ec_frame_init_nprd(&frame, slave->master, slave->station_address,
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0x0130, 2);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_WARN("State %02X acknowledge checking failed on slave %i!\n",
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state, slave->ring_position);
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return;
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}
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if (unlikely(EC_READ_U8(frame.data) != state)) {
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EC_WARN("Could not acknowledge state %02X on slave %i (code"
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" %02X)!\n", state, slave->ring_position,
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EC_READ_U8(frame.data));
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return;
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}
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if (likely(EC_READ_U8(frame.data) == state)) {
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EC_INFO("Acknowleged state %02X on slave %i.\n", state,
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slave->ring_position);
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return;
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}
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tries_left--;
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}
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if (unlikely(!tries_left)) {
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EC_WARN("Could not check state acknowledgement %02X of slave %i -"
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" Timeout while checking!\n", state, slave->ring_position);
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return;
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}
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}
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/*****************************************************************************/
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/**
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Ändert den Zustand eines Slaves.
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\return 0 bei Erfolg, sonst < 0
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*/
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int ec_slave_state_change(ec_slave_t *slave,
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/**< Slave, dessen Zustand geändert werden soll */
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uint8_t state
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/**< Neuer Zustand */
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)
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{
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ec_frame_t frame;
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unsigned char data[2];
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unsigned int tries_left;
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EC_WRITE_U16(data, state);
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ec_frame_init_npwr(&frame, slave->master, slave->station_address,
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0x0120, 2, data);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_ERR("Failed to set state %02X on slave %i!\n",
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state, slave->ring_position);
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return -1;
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}
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tries_left = 100;
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while (likely(tries_left))
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{
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udelay(10);
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ec_frame_init_nprd(&frame, slave->master, slave->station_address,
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0x0130, 2);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_ERR("Failed to check state %02X on slave %i!\n",
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state, slave->ring_position);
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return -1;
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}
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if (unlikely(EC_READ_U8(frame.data) & 0x10)) { // State change error
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EC_ERR("Could not set state %02X - Slave %i refused state change"
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" (code %02X)!\n", state, slave->ring_position,
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EC_READ_U8(frame.data));
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ec_slave_state_ack(slave, EC_READ_U8(frame.data) & 0x0F);
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return -1;
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}
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if (likely(EC_READ_U8(frame.data) == (state & 0x0F))) {
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// State change successful
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break;
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}
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tries_left--;
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}
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if (unlikely(!tries_left)) {
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EC_ERR("Could not check state %02X of slave %i - Timeout!\n", state,
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slave->ring_position);
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return -1;
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}
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return 0;
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}
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/*****************************************************************************/
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/**
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Merkt eine FMMU-Konfiguration vor.
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Die FMMU wird so konfiguriert, dass sie den gesamten Datenbereich des
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entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate
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FMMUs konfiguriert.
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Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als
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Erfolg zurückgegeben.
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\return 0 bei Erfolg, sonst < 0
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*/
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int ec_slave_set_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
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const ec_domain_t *domain, /**< Domäne */
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const ec_sync_t *sync /**< Sync-Manager */
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)
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{
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unsigned int i;
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// FMMU schon vorgemerkt?
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for (i = 0; i < slave->fmmu_count; i++)
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if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)
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return 0;
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// Neue FMMU reservieren...
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if (slave->fmmu_count >= slave->base_fmmu_count) {
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EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);
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return -1;
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}
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slave->fmmus[slave->fmmu_count].domain = domain;
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slave->fmmus[slave->fmmu_count].sync = sync;
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slave->fmmus[slave->fmmu_count].logical_start_address = 0;
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slave->fmmu_count++;
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slave->registered = 1;
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return 0;
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}
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/*****************************************************************************/
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/**
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Gibt alle Informationen über einen EtherCAT-Slave aus.
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*/
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void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
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{
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EC_INFO("--- EtherCAT slave information ---\n");
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if (slave->type) {
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EC_INFO(" Vendor \"%s\", Product \"%s\": %s\n",
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slave->type->vendor_name, slave->type->product_name,
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slave->type->description);
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}
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else {
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EC_INFO(" *** This slave has no type information! ***\n");
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}
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EC_INFO(" Ring position: %i, Station address: 0x%04X\n",
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slave->ring_position, slave->station_address);
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EC_INFO(" Base information:\n");
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EC_INFO(" Type %u, Revision %i, Build %i\n",
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slave->base_type, slave->base_revision, slave->base_build);
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EC_INFO(" Supported FMMUs: %i, Sync managers: %i\n",
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slave->base_fmmu_count, slave->base_sync_count);
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EC_INFO(" Slave information interface:\n");
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EC_INFO(" Vendor-ID: 0x%08X, Product code: 0x%08X\n",
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slave->sii_vendor_id, slave->sii_product_code);
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EC_INFO(" Revision number: 0x%08X, Serial number: 0x%08X\n",
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slave->sii_revision_number, slave->sii_serial_number);
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}
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/*****************************************************************************/
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/**
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Gibt die Zählerstände der CRC-Fault-Counter aus und setzt diese zurück.
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\return 0 bei Erfolg, sonst < 0
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*/
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int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
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{
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ec_frame_t frame;
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uint8_t data[4];
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ec_frame_init_nprd(&frame, slave->master, slave->station_address,
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0x0300, 4);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_WARN("Reading CRC fault counters failed on slave %i!\n",
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slave->ring_position);
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return -1;
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}
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// No CRC faults.
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if (!EC_READ_U16(frame.data) && !EC_READ_U16(frame.data + 2)) return 0;
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EC_WARN("CRC faults on slave %i. A: %i, B: %i\n", slave->ring_position,
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EC_READ_U16(frame.data), EC_READ_U16(frame.data + 2));
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// Reset CRC counters
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EC_WRITE_U16(data, 0x0000);
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EC_WRITE_U16(data + 2, 0x0000);
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ec_frame_init_npwr(&frame, slave->master, slave->station_address,
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0x0300, 4, data);
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if (unlikely(ec_frame_send_receive(&frame))) {
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EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
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slave->ring_position);
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return -1;
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}
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return 0;
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}
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/*****************************************************************************/
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/* Emacs-Konfiguration
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;;; Local Variables: ***
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;;; c-basic-offset:4 ***
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;;; End: ***
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*/
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