diff --git a/drivers/ec_command.c b/drivers/ec_command.c
index d18b51200b51e76f538807c2187d4a05a261fda1..f8cb2677ae576172d3da443c18c64068f8fdcea5 100644
--- a/drivers/ec_command.c
+++ b/drivers/ec_command.c
@@ -112,7 +112,7 @@ void EtherCAT_command_write(EtherCAT_command_t *cmd,
const unsigned char *data)
{
if (node_address == 0x0000)
- EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n");
+ EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n");
ECAT_FUNC_HEADER;
diff --git a/drivers/ec_device.c b/drivers/ec_device.c
index 02aefe31c6466c11544f2a139a004f9d81405171..ce2e973f48cda6da5114605c78ca75d64b841116 100644
--- a/drivers/ec_device.c
+++ b/drivers/ec_device.c
@@ -253,28 +253,30 @@ int EtherCAT_device_send(EtherCAT_device_t *ecd,
@param ecd EtherCAT-Gerät
@param data Zeiger auf den Speicherbereich, in den die
- empfangenen Daten kopiert werden sollen
- @param size Größe des angegebenen Speicherbereichs
+ empfangenen Daten kopiert werden sollen
@return Anzahl der kopierten Bytes bei Erfolg, sonst < 0
*/
int EtherCAT_device_receive(EtherCAT_device_t *ecd,
- unsigned char *data,
- unsigned int size)
+ unsigned char *data)
{
- int cnt;
-
if (ecd->state != ECAT_DS_RECEIVED)
{
EC_DBG(KERN_ERR "EtherCAT: receive - Nothing received!\n");
return -1;
}
- cnt = min(ecd->rx_data_length, size);
- memcpy(data,ecd->rx_data, cnt);
+ if (ecd->rx_data_length > ECAT_FRAME_BUFFER_SIZE)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: receive - Reveived frame too long (%i Bytes)!\n",
+ ecd->rx_data_length);
+ return -1;
+ }
+
+ memcpy(data, ecd->rx_data, ecd->rx_data_length);
- return cnt;
+ return ecd->rx_data_length;
}
/***************************************************************/
diff --git a/drivers/ec_device.h b/drivers/ec_device.h
index 9b79b55b132da1cfb9d4d7e627273e2a826c1053..6ef45f7d47c243ef2c89ac5f291c5fdec4870913 100644
--- a/drivers/ec_device.h
+++ b/drivers/ec_device.h
@@ -77,7 +77,7 @@ int EtherCAT_device_open(EtherCAT_device_t *);
int EtherCAT_device_close(EtherCAT_device_t *);
int EtherCAT_device_send(EtherCAT_device_t *, unsigned char *, unsigned int);
-int EtherCAT_device_receive(EtherCAT_device_t *, unsigned char *, unsigned int);
+int EtherCAT_device_receive(EtherCAT_device_t *, unsigned char *);
void EtherCAT_device_call_isr(EtherCAT_device_t *);
void EtherCAT_device_debug(EtherCAT_device_t *);
diff --git a/drivers/ec_globals.h b/drivers/ec_globals.h
index 4b54729cdd168d5d9c088ee5e4f0c3d87ce82454..0ddf503372c23406d3702daf66e2cf81eb8bcdcd 100644
--- a/drivers/ec_globals.h
+++ b/drivers/ec_globals.h
@@ -15,17 +15,7 @@
/**
Maximale Größe eines EtherCAT-Frames
*/
-#define ECAT_FRAME_BUFFER_SIZE 1600
-
-/**
- Anzahl der Kommandos in einem Master-Kommandoring
-*/
-#define ECAT_COMMAND_RING_SIZE 10
-
-/**
- Anzahl der Versuche beim Asynchronen Senden/Empfangen
-*/
-#define ECAT_NUM_RETRIES 10
+#define ECAT_FRAME_BUFFER_SIZE 1500
/**
NULL-Define, falls noch nicht definiert.
diff --git a/drivers/ec_master.c b/drivers/ec_master.c
index d8b078ef588a93894762ef3f9ff3a3d43f4fa652..433493358cf523facf648217218197f933a2d915 100644
--- a/drivers/ec_master.c
+++ b/drivers/ec_master.c
@@ -25,7 +25,7 @@
@param master Zeiger auf den zu initialisierenden
EtherCAT-Master
- @param dev Zeiger auf das EtherCAT-gerät, mit dem der
+ @param dev Zeiger auf das EtherCAT-Gerät, mit dem der
Master arbeiten soll
@return 0 bei Erfolg, sonst < 0 (= dev ist NULL)
@@ -96,10 +96,12 @@ int EtherCAT_simple_send_receive(EtherCAT_master_t *master,
if (EtherCAT_simple_send(master, cmd) < 0) return -1;
- tries_left = 100;
- while (cmd->state == ECAT_CS_SENT && tries_left)
+ EtherCAT_device_call_isr(master->dev);
+
+ tries_left = 1000;
+ while (master->dev->state == ECAT_DS_SENT && tries_left)
{
- udelay(10);
+ udelay(1);
EtherCAT_device_call_isr(master->dev);
tries_left--;
}
@@ -137,6 +139,13 @@ int EtherCAT_simple_send(EtherCAT_master_t *master,
length = cmd->data_length + 12;
framelength = length + 2;
+
+ if (framelength > ECAT_FRAME_BUFFER_SIZE)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Frame too long (%i)!\n", framelength);
+ return -1;
+ }
+
if (framelength < 46) framelength = 46;
if (master->debug_level > 0)
@@ -223,32 +232,32 @@ int EtherCAT_simple_send(EtherCAT_master_t *master,
int EtherCAT_simple_receive(EtherCAT_master_t *master,
EtherCAT_command_t *cmd)
{
- unsigned int rx_data_length, length;
+ unsigned int length;
+ int receive_ret;
unsigned char command_type, command_index;
- rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
- ECAT_FRAME_BUFFER_SIZE);
+ if ((receive_ret = EtherCAT_device_receive(master->dev,
+ master->rx_data)) < 0)
+ {
+ return -1;
+ }
+
+ master->rx_data_length = (unsigned int) receive_ret;
- if (rx_data_length < 2)
+ if (master->rx_data_length < 2)
{
EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete EtherCAT header!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
+ output_debug_data(master);
return -1;
}
// Länge des gesamten Frames prüfen
length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
- if (length > rx_data_length)
+ if (length > master->rx_data_length)
{
EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (length does not match)!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
+ output_debug_data(master);
return -1;
}
@@ -256,13 +265,10 @@ int EtherCAT_simple_receive(EtherCAT_master_t *master,
command_index = master->rx_data[2 + 1];
length = (master->rx_data[2 + 6] & 0xFF) | ((master->rx_data[2 + 7] & 0x07) << 8);
- if (rx_data_length - 2 < length + 12)
+ if (master->rx_data_length - 2 < length + 12)
{
EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command data!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
+ output_debug_data(master);
return -1;
}
@@ -283,10 +289,7 @@ int EtherCAT_simple_receive(EtherCAT_master_t *master,
else
{
EC_DBG(KERN_WARNING "EtherCAT: WARNING - Send/Receive anomaly!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, master->tx_data_length);
- EC_DBG(KERN_DEBUG "EtherCAT: rx_data content:\n");
- output_debug_data(master->rx_data, rx_data_length);
+ output_debug_data(master);
}
master->dev->state = ECAT_DS_READY;
@@ -991,8 +994,24 @@ int EtherCAT_write_process_data(EtherCAT_master_t *master)
int EtherCAT_read_process_data(EtherCAT_master_t *master)
{
+ unsigned int tries_left;
+
EtherCAT_device_call_isr(master->dev);
+ tries_left = 1000;
+ while (master->dev->state == ECAT_DS_SENT && tries_left)
+ {
+ udelay(1);
+ EtherCAT_device_call_isr(master->dev);
+ tries_left--;
+ }
+
+ if (!tries_left)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Timeout while receiving process data!\n");
+ return -1;
+ }
+
if (EtherCAT_simple_receive(master, &master->process_data_command) < 0)
{
EC_DBG(KERN_ERR "EtherCAT: Could not receive cyclic command!\n");
@@ -1028,41 +1047,6 @@ void EtherCAT_clear_process_data(EtherCAT_master_t *master)
/***************************************************************/
-/**
- Setzt einen Byte-Wert im Speicher.
-
- @param data Startadresse
- @param offset Byte-Offset
- @param value Wert
-*/
-
-void set_byte(unsigned char *data,
- unsigned int offset,
- unsigned char value)
-{
- data[offset] = value;
-}
-
-/***************************************************************/
-
-/**
- Setzt einen Word-Wert im Speicher.
-
- @param data Startadresse
- @param offset Byte-Offset
- @param value Wert
-*/
-
-void set_word(unsigned char *data,
- unsigned int offset,
- unsigned int value)
-{
- data[offset] = value & 0xFF;
- data[offset + 1] = (value & 0xFF00) >> 8;
-}
-
-/***************************************************************/
-
/**
Gibt Frame-Inhalte zwecks Debugging aus.
@@ -1070,14 +1054,28 @@ void set_word(unsigned char *data,
@param length Länge der Daten
*/
-void output_debug_data(unsigned char *data, unsigned int length)
+void output_debug_data(const EtherCAT_master_t *master)
{
unsigned int i;
+ EC_DBG(KERN_DEBUG "EtherCAT: tx_data content (%i Bytes):\n",
+ master->tx_data_length);
+
+ EC_DBG(KERN_DEBUG);
+ for (i = 0; i < master->tx_data_length; i++)
+ {
+ EC_DBG("%02X ", master->tx_data[i]);
+ if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
+ }
+ EC_DBG("\n");
+
+ EC_DBG(KERN_DEBUG "EtherCAT: rx_data content (%i Bytes):\n",
+ master->rx_data_length);
+
EC_DBG(KERN_DEBUG);
- for (i = 0; i < length; i++)
+ for (i = 0; i < master->rx_data_length; i++)
{
- EC_DBG("%02X ", data[i]);
+ EC_DBG("%02X ", master->rx_data[i]);
if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
}
EC_DBG("\n");
diff --git a/drivers/ec_master.h b/drivers/ec_master.h
index 3b65a9db8e1b2e550eb340e139417f4cca457448..93224beacb1b48617038e4f5ea39e25eb6fa0963 100644
--- a/drivers/ec_master.h
+++ b/drivers/ec_master.h
@@ -44,6 +44,7 @@ typedef struct
unsigned char rx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statische Speicher für
eine Kopie des Rx-Buffers
im EtherCAT-Gerät */
+ unsigned int rx_data_length; /**< Länge der Daten im Empfangsspeicher */
unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
unsigned int process_data_length; /**< Länge der Prozessdaten */
@@ -82,9 +83,7 @@ int EtherCAT_read_process_data(EtherCAT_master_t *);
void EtherCAT_clear_process_data(EtherCAT_master_t *);
// Private functions
-void set_byte(unsigned char *, unsigned int, unsigned char);
-void set_word(unsigned char *, unsigned int, unsigned int);
-void output_debug_data(unsigned char *, unsigned int);
+void output_debug_data(const EtherCAT_master_t *);
/***************************************************************/