From 9c317024a50647b97febd6d401c20bdfe0259320 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 18 Nov 2005 09:51:50 +0000
Subject: [PATCH] Code zum Senden/Empfangen mehrerer Kommandos in einem Frame
vorerst ganz entfernt.
---
drivers/ec_command.c | 1 -
drivers/ec_command.h | 5 -
drivers/ec_device.c | 2 +
drivers/ec_master.c | 1176 ++++++++----------------------------------
drivers/ec_master.h | 83 +--
drivers/ec_types.c | 2 +-
6 files changed, 231 insertions(+), 1038 deletions(-)
diff --git a/drivers/ec_command.c b/drivers/ec_command.c
index a4d26528..d18b5120 100644
--- a/drivers/ec_command.c
+++ b/drivers/ec_command.c
@@ -30,7 +30,6 @@ void EtherCAT_command_init(EtherCAT_command_t *cmd)
cmd->type = ECAT_CMD_NONE;
cmd->address.logical = 0x00000000;
cmd->data_length = 0;
- //cmd->next = NULL;
cmd->state = ECAT_CS_READY;
cmd->index = 0;
cmd->working_counter = 0;
diff --git a/drivers/ec_command.h b/drivers/ec_command.h
index 030ed576..7e6f3b6d 100644
--- a/drivers/ec_command.h
+++ b/drivers/ec_command.h
@@ -69,11 +69,6 @@ typedef struct EtherCAT_command
EtherCAT_address_t address; /**< Adresse des/der Empfänger */
unsigned int data_length; /**< Länge der zu sendenden und/oder empfangenen Daten */
-#if 0
- struct EtherCAT_command *next; /**< (Für den Master) Zeiger auf nächstes Kommando
- in der Liste */
-#endif
-
EtherCAT_command_state_t state; /**< Zustand des Kommandos (bereit, gesendet, etc...) */
unsigned char index; /**< Kommando-Index, mit der das Kommando gesendet wurde (wird
vom Master beim Senden gesetzt. */
diff --git a/drivers/ec_device.c b/drivers/ec_device.c
index f8d94540..02aefe31 100644
--- a/drivers/ec_device.c
+++ b/drivers/ec_device.c
@@ -17,6 +17,8 @@
#include "ec_device.h"
#include "ec_dbg.h"
+extern void rtl8139_interrupt(int, void *, struct pt_regs *);
+
/***************************************************************/
/**
diff --git a/drivers/ec_master.c b/drivers/ec_master.c
index 6457aacb..d8b078ef 100644
--- a/drivers/ec_master.c
+++ b/drivers/ec_master.c
@@ -34,8 +34,6 @@
int EtherCAT_master_init(EtherCAT_master_t *master,
EtherCAT_device_t *dev)
{
- unsigned int i;
-
if (!dev)
{
EC_DBG(KERN_ERR "EtherCAT: Master init without device!\n");
@@ -44,24 +42,13 @@ int EtherCAT_master_init(EtherCAT_master_t *master,
master->slaves = NULL;
master->slave_count = 0;
- //master->first_command = NULL;
- //master->process_data_command = NULL;
master->dev = dev;
master->command_index = 0x00;
master->tx_data_length = 0;
master->process_data = NULL;
master->process_data_length = 0;
- //master->cmd_ring_index = 0;
master->debug_level = 0;
-#if 0
- for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++)
- {
- EtherCAT_command_init(&master->cmd_ring[i]);
- master->cmd_reserved[i] = 0;
- }
-#endif
-
return 0;
}
@@ -78,14 +65,6 @@ int EtherCAT_master_init(EtherCAT_master_t *master,
void EtherCAT_master_clear(EtherCAT_master_t *master)
{
-#if 0
- // Remove all pending commands
- while (master->first_command)
- {
- EtherCAT_remove_command(master, master->first_command);
- }
-#endif
-
// Remove all slaves
EtherCAT_clear_slaves(master);
@@ -100,6 +79,223 @@ void EtherCAT_master_clear(EtherCAT_master_t *master)
/***************************************************************/
+/**
+ Sendet ein einzelnes Kommando in einem Frame und
+ wartet auf dessen Empfang.
+
+ @param master EtherCAT-Master
+ @param cmd Kommando zum Senden/Empfangen
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_simple_send_receive(EtherCAT_master_t *master,
+ EtherCAT_command_t *cmd)
+{
+ unsigned int tries_left;
+
+ if (EtherCAT_simple_send(master, cmd) < 0) return -1;
+
+ tries_left = 100;
+ while (cmd->state == ECAT_CS_SENT && tries_left)
+ {
+ udelay(10);
+ EtherCAT_device_call_isr(master->dev);
+ tries_left--;
+ }
+
+ if (EtherCAT_simple_receive(master, cmd) < 0) return -1;
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Sendet ein einzelnes Kommando in einem Frame.
+
+ @param master EtherCAT-Master
+ @param cmd Kommando zum Senden
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_simple_send(EtherCAT_master_t *master,
+ EtherCAT_command_t *cmd)
+{
+ unsigned int length, framelength, i;
+
+ if (master->debug_level > 0)
+ {
+ EC_DBG(KERN_DEBUG "EtherCAT_send_receive_command\n");
+ }
+
+ if (cmd->state != ECAT_CS_READY)
+ {
+ EC_DBG(KERN_WARNING "EtherCAT_send_receive_command: Command not in ready state!\n");
+ }
+
+ length = cmd->data_length + 12;
+ framelength = length + 2;
+ if (framelength < 46) framelength = 46;
+
+ if (master->debug_level > 0)
+ {
+ EC_DBG(KERN_DEBUG "Frame length: %i\n", framelength);
+ }
+
+ master->tx_data[0] = length & 0xFF;
+ master->tx_data[1] = ((length & 0x700) >> 8) | 0x10;
+
+ cmd->index = master->command_index;
+ master->command_index = (master->command_index + 1) % 0x0100;
+
+ if (master->debug_level > 0)
+ {
+ EC_DBG(KERN_DEBUG "Sending command index %i\n", cmd->index);
+ }
+
+ cmd->state = ECAT_CS_SENT;
+
+ master->tx_data[2 + 0] = cmd->type;
+ master->tx_data[2 + 1] = cmd->index;
+ master->tx_data[2 + 2] = cmd->address.raw[0];
+ master->tx_data[2 + 3] = cmd->address.raw[1];
+ master->tx_data[2 + 4] = cmd->address.raw[2];
+ master->tx_data[2 + 5] = cmd->address.raw[3];
+ master->tx_data[2 + 6] = cmd->data_length & 0xFF;
+ master->tx_data[2 + 7] = (cmd->data_length & 0x700) >> 8;
+ master->tx_data[2 + 8] = 0x00;
+ master->tx_data[2 + 9] = 0x00;
+
+ if (cmd->type == ECAT_CMD_APWR
+ || cmd->type == ECAT_CMD_NPWR
+ || cmd->type == ECAT_CMD_BWR
+ || cmd->type == ECAT_CMD_LRW) // Write
+ {
+ for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = cmd->data[i];
+ }
+ else // Read
+ {
+ for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = 0x00;
+ }
+
+ master->tx_data[2 + 10 + cmd->data_length] = 0x00;
+ master->tx_data[2 + 11 + cmd->data_length] = 0x00;
+
+ // Pad with zeros
+ for (i = cmd->data_length + 12 + 2; i < 46; i++) master->tx_data[i] = 0x00;
+
+ master->tx_data_length = framelength;
+
+ if (master->debug_level > 0)
+ {
+ EC_DBG(KERN_DEBUG "device send...\n");
+ }
+
+ // Send frame
+ if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
+ {
+ EC_DBG(KERN_ERR "EtherCAT: Could not send!\n");
+ return -1;
+ }
+
+ if (master->debug_level > 0)
+ {
+ EC_DBG(KERN_DEBUG "EtherCAT_send done.\n");
+ }
+
+ return 0;
+}
+
+/***************************************************************/
+
+/**
+ Wartet auf den Empfang eines einzeln gesendeten
+ Kommandos.
+
+ @param master EtherCAT-Master
+ @param cmd Gesendetes Kommando
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_simple_receive(EtherCAT_master_t *master,
+ EtherCAT_command_t *cmd)
+{
+ unsigned int rx_data_length, length;
+ unsigned char command_type, command_index;
+
+ rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
+ ECAT_FRAME_BUFFER_SIZE);
+
+ if (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);
+ return -1;
+ }
+
+ // Länge des gesamten Frames prüfen
+ length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
+
+ if (length > 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);
+ return -1;
+ }
+
+ command_type = master->rx_data[2];
+ 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)
+ {
+ 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);
+ return -1;
+ }
+
+ if (cmd->state == ECAT_CS_SENT
+ && cmd->type == command_type
+ && cmd->index == command_index
+ && cmd->data_length == length)
+ {
+ cmd->state = ECAT_CS_RECEIVED;
+
+ // Empfangene Daten in Kommandodatenspeicher kopieren
+ memcpy(cmd->data, master->rx_data + 2 + 10, length);
+
+ // Working-Counter setzen
+ cmd->working_counter = ((master->rx_data[length + 2 + 10] & 0xFF)
+ | ((master->rx_data[length + 2 + 11] & 0xFF) << 8));
+ }
+ 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);
+ }
+
+ master->dev->state = ECAT_DS_READY;
+
+ return 0;
+}
+
+/***************************************************************/
+
/**
Überprüft die angeschlossenen Slaves.
@@ -394,944 +590,6 @@ int EtherCAT_read_slave_information(EtherCAT_master_t *master,
return 0;
}
-#if 0
-/***************************************************************/
-
-/**
- Führt ein asynchrones Senden und Empfangen aus.
-
- Sendet alle wartenden Kommandos und wartet auf die
- entsprechenden Antworten.
-
- @param master EtherCAT-Master
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_async_send_receive(EtherCAT_master_t *master)
-{
- unsigned int wait_cycles;
- int i;
-
- // Send all commands
-
- for (i = 0; i < ECAT_NUM_RETRIES; i++)
- {
- if (EtherCAT_send(master) < 0)
- {
- return -1;
- }
-
- // Wait until something is received or an error has occurred
-
- wait_cycles = 10;
- EtherCAT_device_call_isr(master->dev);
-
- while (master->dev->state == ECAT_DS_SENT && wait_cycles)
- {
- udelay(1000);
- wait_cycles--;
- EtherCAT_device_call_isr(master->dev);
- }
-
- //EC_DBG("Master async send: tries %d",tries_left);
-
- if (!wait_cycles)
- {
- EC_DBG(KERN_ERR "EtherCAT: Asynchronous receive timeout.\n");
- continue;
- }
-
- if (master->dev->state != ECAT_DS_RECEIVED)
- {
- EC_DBG(KERN_ERR "EtherCAT: Asyncronous send error. State %i\n", master->dev->state);
- continue;
- }
-
- // Receive all commands
- if (EtherCAT_receive(master) < 0)
- {
- // Noch mal versuchen
- master->dev->state = ECAT_DS_READY;
- EC_DBG("Retry Asynchronous send/recieve: %d", i);
- continue;
- }
-
- return 0; // Erfolgreich
- }
-
- return -1;
-}
-
-/***************************************************************/
-
-/**
- Sendet alle wartenden Kommandos.
-
- Errechnet erst die benötigte Gesamt-Rahmenlänge, und erstellt
- dann alle Kommando-Bytefolgen im statischen Sendespeicher.
- Danach wird die Sendefunktion des EtherCAT-Gerätes aufgerufen.
-
- @param master EtherCAT-Master
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_send(EtherCAT_master_t *master)
-{
- unsigned int i, length, framelength, pos;
- EtherCAT_command_t *cmd;
- int cmdcnt = 0;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "EtherCAT_send, first_command = %X\n", (int) master->first_command);
- }
-
- length = 0;
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->state != ECAT_CS_READY) continue;
- length += cmd->data_length + 12;
- cmdcnt++;
- }
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "%i commands to send.\n", cmdcnt);
- }
-
- if (length == 0)
- {
- EC_DBG(KERN_WARNING "EtherCAT: Nothing to send...\n");
- return 0;
- }
-
- framelength = length + 2;
- if (framelength < 46) framelength = 46;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "framelength: %i\n", framelength);
- }
-
- master->tx_data[0] = length & 0xFF;
- master->tx_data[1] = ((length & 0x700) >> 8) | 0x10;
- pos = 2;
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->state != ECAT_CS_READY) continue;
-
- cmd->index = master->command_index;
- master->command_index = (master->command_index + 1) % 0x0100;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "Sending command index %i\n", cmd->index);
- }
-
- cmd->state = ECAT_CS_SENT;
-
- master->tx_data[pos + 0] = cmd->type;
- master->tx_data[pos + 1] = cmd->index;
-
- master->tx_data[pos + 2] = cmd->address.raw[0];
- master->tx_data[pos + 3] = cmd->address.raw[1];
- master->tx_data[pos + 4] = cmd->address.raw[2];
- master->tx_data[pos + 5] = cmd->address.raw[3];
-
- master->tx_data[pos + 6] = cmd->data_length & 0xFF;
- master->tx_data[pos + 7] = (cmd->data_length & 0x700) >> 8;
-
- if (cmd->next) master->tx_data[pos + 7] |= 0x80;
-
- master->tx_data[pos + 8] = 0x00;
- master->tx_data[pos + 9] = 0x00;
-
- if (cmd->type == ECAT_CMD_APWR
- || cmd->type == ECAT_CMD_NPWR
- || cmd->type == ECAT_CMD_BWR
- || cmd->type == ECAT_CMD_LRW) // Write
- {
- for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = cmd->data[i];
- }
- else // Read
- {
- for (i = 0; i < cmd->data_length; i++) master->tx_data[pos + 10 + i] = 0x00;
- }
-
- master->tx_data[pos + 10 + cmd->data_length] = 0x00;
- master->tx_data[pos + 11 + cmd->data_length] = 0x00;
-
- pos += 12 + cmd->data_length;
- }
-
- // Pad with zeros
- while (pos < 46) master->tx_data[pos++] = 0x00;
-
- master->tx_data_length = framelength;
-
-#ifdef DEBUG_SEND_RECEIVE
- EC_DBG(KERN_DEBUG "\n");
- EC_DBG(KERN_DEBUG ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n");
- EC_DBG(KERN_DEBUG);
- for (i = 0; i < framelength; 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 "-----------------------------------------------\n");
-#endif
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "device send...\n");
- }
-
- // Send frame
- if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
- {
- EC_DBG(KERN_ERR "EtherCAT: Could not send!\n");
- EC_DBG(KERN_DEBUG "EtherCAT: tx_data content:\n");
- output_debug_data(master->tx_data, framelength);
- return -1;
- }
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "EtherCAT_send done.\n");
- }
-
- return 0;
-}
-
-/***************************************************************/
-
-/**
- Holt alle empfangenen Kommandos vom EtherCAT-Gerät.
-
- Kopiert einen empfangenen Rahmen vom EtherCAT-Gerät
- in den Statischen Empfangsspeicher und ordnet dann
- allen gesendeten Kommandos ihre Antworten zu.
-
- @param master EtherCAT-Master
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_receive(EtherCAT_master_t *master)
-{
- EtherCAT_command_t *cmd;
- unsigned int length, pos, found, rx_data_length;
- unsigned int command_follows, command_type, command_index;
-
- // Copy received data into master buffer (with locking)
- rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
- ECAT_FRAME_BUFFER_SIZE);
-
-#ifdef DEBUG_SEND_RECEIVE
- for (i = 0; i < rx_data_length; i++)
- {
- if (master->rx_data[i] == master->tx_data[i]) EC_DBG(" ");
- else EC_DBG("%02X ", master->rx_data[i]);
- if ((i + 1) % 16 == 0) EC_DBG("\n" KERN_DEBUG);
- }
- EC_DBG("\n");
- EC_DBG(KERN_DEBUG "<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<\n");
- EC_DBG(KERN_DEBUG "\n");
-#endif
-
- if (rx_data_length < 2)
- {
- EC_DBG(KERN_ERR "EtherCAT: Received corrupted frame (illegal length)!\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);
- return -1;
- }
-
- // Länge des gesamten Frames prüfen
- length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
-
- if (length > 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);
- return -1;
- }
-
- pos = 2; // LibPCAP: 16
- command_follows = 1;
- while (command_follows)
- {
- if (pos + 10 > rx_data_length)
- {
- EC_DBG(KERN_ERR "EtherCAT: Received frame with incomplete command 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);
- return -1;
- }
-
- command_type = master->rx_data[pos];
- command_index = master->rx_data[pos + 1];
- length = (master->rx_data[pos + 6] & 0xFF)
- | ((master->rx_data[pos + 7] & 0x07) << 8);
- command_follows = master->rx_data[pos + 7] & 0x80;
-
- if (pos + length + 12 > rx_data_length)
- {
- 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);
- return -1;
- }
-
- found = 0;
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->state == ECAT_CS_SENT
- && cmd->type == command_type
- && cmd->index == command_index
- && cmd->data_length == length)
- {
- found = 1;
- cmd->state = ECAT_CS_RECEIVED;
-
- // Empfangene Daten in Kommandodatenspeicher kopieren
- memcpy(cmd->data, master->rx_data + pos + 10, length);
-
- // Working-Counter setzen
- cmd->working_counter = (master->rx_data[pos + length + 10] & 0xFF)
- | ((master->rx_data[pos + length + 11] & 0xFF) << 8);
- }
- }
-
- if (!found)
- {
- EC_DBG(KERN_WARNING "EtherCAT: WARNING - Command not assigned!\n");
- }
-
- pos += length + 12;
- }
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd->state == ECAT_CS_SENT)
- {
- EC_DBG(KERN_WARNING "EtherCAT: WARNING - One command received no response!\n");
- }
- }
-
- master->dev->state = ECAT_DS_READY;
-
- return 0;
-}
-#endif
-
-/***************************************************************/
-
-/**
- Sendet ein einzelnes Kommando in einem Frame und
- wartet auf dessen Empfang.
-
- @param master EtherCAT-Master
- @param cmd Kommando zum Senden/Empfangen
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_simple_send_receive(EtherCAT_master_t *master,
- EtherCAT_command_t *cmd)
-{
- unsigned int tries_left;
-
- if (EtherCAT_simple_send(master, cmd) < 0) return -1;
-
- tries_left = 100;
- while (cmd->state == ECAT_CS_SENT && tries_left)
- {
- udelay(10);
- EtherCAT_device_call_isr(master->dev);
- tries_left--;
- }
-
- if (EtherCAT_simple_receive(master, cmd) < 0) return -1;
-
- return 0;
-}
-
-/***************************************************************/
-
-/**
- Sendet ein einzelnes Kommando in einem Frame.
-
- @param master EtherCAT-Master
- @param cmd Kommando zum Senden
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_simple_send(EtherCAT_master_t *master,
- EtherCAT_command_t *cmd)
-{
- unsigned int length, framelength, i;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "EtherCAT_send_receive_command\n");
- }
-
- if (cmd->state != ECAT_CS_READY)
- {
- EC_DBG(KERN_WARNING "EtherCAT_send_receive_command: Command not in ready state!\n");
- }
-
- length = cmd->data_length + 12;
- framelength = length + 2;
- if (framelength < 46) framelength = 46;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "Frame length: %i\n", framelength);
- }
-
- master->tx_data[0] = length & 0xFF;
- master->tx_data[1] = ((length & 0x700) >> 8) | 0x10;
-
- cmd->index = master->command_index;
- master->command_index = (master->command_index + 1) % 0x0100;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "Sending command index %i\n", cmd->index);
- }
-
- cmd->state = ECAT_CS_SENT;
-
- master->tx_data[2 + 0] = cmd->type;
- master->tx_data[2 + 1] = cmd->index;
- master->tx_data[2 + 2] = cmd->address.raw[0];
- master->tx_data[2 + 3] = cmd->address.raw[1];
- master->tx_data[2 + 4] = cmd->address.raw[2];
- master->tx_data[2 + 5] = cmd->address.raw[3];
- master->tx_data[2 + 6] = cmd->data_length & 0xFF;
- master->tx_data[2 + 7] = (cmd->data_length & 0x700) >> 8;
- master->tx_data[2 + 8] = 0x00;
- master->tx_data[2 + 9] = 0x00;
-
- if (cmd->type == ECAT_CMD_APWR
- || cmd->type == ECAT_CMD_NPWR
- || cmd->type == ECAT_CMD_BWR
- || cmd->type == ECAT_CMD_LRW) // Write
- {
- for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = cmd->data[i];
- }
- else // Read
- {
- for (i = 0; i < cmd->data_length; i++) master->tx_data[2 + 10 + i] = 0x00;
- }
-
- master->tx_data[2 + 10 + cmd->data_length] = 0x00;
- master->tx_data[2 + 11 + cmd->data_length] = 0x00;
-
- // Pad with zeros
- for (i = cmd->data_length + 12 + 2; i < 46; i++) master->tx_data[i] = 0x00;
-
- master->tx_data_length = framelength;
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "device send...\n");
- }
-
- // Send frame
- if (EtherCAT_device_send(master->dev, master->tx_data, framelength) != 0)
- {
- EC_DBG(KERN_ERR "EtherCAT: Could not send!\n");
- return -1;
- }
-
- if (master->debug_level > 0)
- {
- EC_DBG(KERN_DEBUG "EtherCAT_send done.\n");
- }
-
- return 0;
-}
-
-/***************************************************************/
-
-/**
- Wartet auf den Empfang eines einzeln gesendeten
- Kommandos.
-
- @param master EtherCAT-Master
- @param cmd Gesendetes Kommando
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-int EtherCAT_simple_receive(EtherCAT_master_t *master,
- EtherCAT_command_t *cmd)
-{
- unsigned int rx_data_length, length;
- unsigned char command_type, command_index;
-
- rx_data_length = EtherCAT_device_receive(master->dev, master->rx_data,
- ECAT_FRAME_BUFFER_SIZE);
-
- if (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);
- return -1;
- }
-
- // Länge des gesamten Frames prüfen
- length = ((master->rx_data[1] & 0x07) << 8) | (master->rx_data[0] & 0xFF);
-
- if (length > 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);
- return -1;
- }
-
- command_type = master->rx_data[2];
- 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)
- {
- 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);
- return -1;
- }
-
- if (cmd->state == ECAT_CS_SENT
- && cmd->type == command_type
- && cmd->index == command_index
- && cmd->data_length == length)
- {
- cmd->state = ECAT_CS_RECEIVED;
-
- // Empfangene Daten in Kommandodatenspeicher kopieren
- memcpy(cmd->data, master->rx_data + 2 + 10, length);
-
- // Working-Counter setzen
- cmd->working_counter = ((master->rx_data[length + 2 + 10] & 0xFF)
- | ((master->rx_data[length + 2 + 11] & 0xFF) << 8));
- }
- 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);
- }
-
- master->dev->state = ECAT_DS_READY;
-
- return 0;
-}
-
-/***************************************************************/
-
-#if 0
-
-#define ECAT_FUNC_HEADER \
- EtherCAT_command_t *cmd; \
- if ((cmd = alloc_cmd(master)) == NULL) \
- { \
- EC_DBG(KERN_ERR "EtherCAT: Out of memory while creating command!\n"); \
- return NULL; \
- } \
- EtherCAT_command_init(cmd)
-
-#define ECAT_FUNC_WRITE_FOOTER \
- cmd->data_length = length; \
- memcpy(cmd->data, data, length); \
- if (add_command(master, cmd) < 0) return NULL; \
- return cmd
-
-#define ECAT_FUNC_READ_FOOTER \
- cmd->data_length = length; \
- if (add_command(master, cmd) < 0) return NULL; \
- return cmd
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-NPRD-Kommando.
-
- Alloziert ein "node-adressed physical read"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-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
-*/
-
-EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *master,
- unsigned short node_address,
- unsigned short offset,
- unsigned int length)
-{
- if (node_address == 0x0000)
- EC_DBG(KERN_WARNING "EtherCAT: Using node address 0x0000!\n");
-
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_NPRD;
- cmd->address.phy.dev.node = node_address;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_READ_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-NPWR-Kommando.
-
- Alloziert ein "node-adressed physical write"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param node_address Adresse des Knotens (Slaves)
- @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
-*/
-
-EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *master,
- unsigned short node_address,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- if (node_address == 0x0000)
- EC_DBG(KERN_WARNING "WARNING: Using node address 0x0000!\n");
-
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_NPWR;
- cmd->address.phy.dev.node = node_address;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_WRITE_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-APRD-Kommando.
-
- Alloziert ein "autoincerement physical read"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-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
-*/
-
-EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *master,
- short ring_position,
- unsigned short offset,
- unsigned int length)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_APRD;
- cmd->address.phy.dev.pos = ring_position;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_READ_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-APWR-Kommando.
-
- Alloziert ein "autoincrement physical write"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param ring_position (Negative) Position des Slaves im Bus
- @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
-*/
-
-EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *master,
- short ring_position,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_APWR;
- cmd->address.phy.dev.pos = ring_position;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_WRITE_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-BRD-Kommando.
-
- Alloziert ein "broadcast read"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @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
-*/
-
-EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *master,
- unsigned short offset,
- unsigned int length)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_BRD;
- cmd->address.phy.dev.node = 0x0000;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_READ_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-BWR-Kommando.
-
- Alloziert ein "broadcast write"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-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
-*/
-
-EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *master,
- unsigned short offset,
- unsigned int length,
- const unsigned char *data)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_BWR;
- cmd->address.phy.dev.node = 0x0000;
- cmd->address.phy.mem = offset;
-
- ECAT_FUNC_WRITE_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Erstellt ein EtherCAT-LRW-Kommando.
-
- Alloziert ein "logical read write"-Kommando
- und fügt es in die Liste des Masters ein.
-
- @param master EtherCAT-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
-*/
-
-EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *master,
- unsigned int offset,
- unsigned int length,
- unsigned char *data)
-{
- ECAT_FUNC_HEADER;
-
- cmd->type = ECAT_CMD_LRW;
- cmd->address.logical = offset;
-
- ECAT_FUNC_WRITE_FOOTER;
-}
-
-/***************************************************************/
-
-/**
- Alloziert ein neues Kommando aus dem Kommandoring.
-
- Durchsucht den Kommandoring nach einem freien Kommando,
- reserviert es und gibt dessen Adresse zurück.
-
- @param master EtherCAT-Master
-
- @return Adresse des Kommandos bei Erfolg, sonst NULL
-*/
-
-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)
- {
- master->cmd_reserved[master->cmd_ring_index] = 1; // Belegen
-
- if (master->debug_level)
- {
- EC_DBG(KERN_DEBUG "Allocating command %i (addr %X).\n",
- master->cmd_ring_index,
- (int) &master->cmd_ring[master->cmd_ring_index]);
- }
-
- return &master->cmd_ring[master->cmd_ring_index];
- }
-
- if (master->debug_level)
- {
- EC_DBG(KERN_DEBUG "Command %i (addr %X) is reserved...\n",
- master->cmd_ring_index,
- (int) &master->cmd_ring[master->cmd_ring_index]);
- }
-
- master->cmd_ring_index++;
- master->cmd_ring_index %= ECAT_COMMAND_RING_SIZE;
- }
-
- EC_DBG(KERN_WARNING "EtherCAT: Command ring full!\n");
-
- return NULL; // Nix gefunden
-}
-
-/***************************************************************/
-
-/**
- Fügt ein Kommando in die Liste des Masters ein.
-
- @param master EtherCAT-Master
- @param cmd Zeiger auf das einzufügende Kommando
-*/
-
-int add_command(EtherCAT_master_t *master,
- EtherCAT_command_t *new_cmd)
-{
- EtherCAT_command_t *cmd, **last_cmd;
-
- for (cmd = master->first_command; cmd != NULL; cmd = cmd->next)
- {
- if (cmd == new_cmd)
- {
- EC_DBG(KERN_WARNING "EtherCAT: Trying to add a command"
- " that is already in the list!\n");
- return -1;
- }
- }
-
- // Find the address of the last pointer in the list
- last_cmd = &(master->first_command);
- while (*last_cmd) last_cmd = &(*last_cmd)->next;
-
- // Let this pointer point to the new command
- *last_cmd = new_cmd;
-
- return 0;
-}
-
-/***************************************************************/
-
-/**
- Entfernt ein Kommando aus der Liste und gibt es frei.
-
- Prüft erst, ob das Kommando in der Liste des Masters
- ist. Wenn ja, wird es entfernt und die Reservierung wird
- aufgehoben.
-
- @param master EtherCAT-Master
- @param rem_cmd Zeiger auf das zu entfernende Kommando
-
- @return 0 bei Erfolg, sonst < 0
-*/
-
-void EtherCAT_remove_command(EtherCAT_master_t *master,
- EtherCAT_command_t *rem_cmd)
-{
- EtherCAT_command_t **last_cmd;
- int i;
-
- last_cmd = &master->first_command;
- while (*last_cmd)
- {
- if (*last_cmd == rem_cmd)
- {
- *last_cmd = rem_cmd->next;
- EtherCAT_command_clear(rem_cmd);
-
- // Reservierung des Kommandos aufheben
- for (i = 0; i < ECAT_COMMAND_RING_SIZE; i++)
- {
- if (&master->cmd_ring[i] == rem_cmd)
- {
- master->cmd_reserved[i] = 0;
- return;
- }
- }
-
- EC_DBG(KERN_WARNING "EtherCAT: Could not remove command reservation!\n");
- return;
- }
-
- last_cmd = &(*last_cmd)->next;
- }
-
- EC_DBG(KERN_WARNING "EtherCAT: Trying to remove non-existent command!\n");
-}
-#endif
-
/***************************************************************/
/**
diff --git a/drivers/ec_master.h b/drivers/ec_master.h
index edee987c..3b65a9db 100644
--- a/drivers/ec_master.h
+++ b/drivers/ec_master.h
@@ -31,10 +31,6 @@ typedef struct
mit Slave-Informationen */
unsigned int slave_count; /**< Anzahl der Slaves in slaves */
-#if 0
- EtherCAT_command_t *first_command; /**< Zeiger auf das erste
- Kommando in der Liste */
-#endif
EtherCAT_command_t process_data_command; /**< Kommando zum Senden und
Empfangen der Prozessdaten */
@@ -52,12 +48,6 @@ typedef struct
unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
unsigned int process_data_length; /**< Länge der Prozessdaten */
-#if 0
- EtherCAT_command_t cmd_ring[ECAT_COMMAND_RING_SIZE]; /**< Statischer Kommandoring */
- int cmd_reserved[ECAT_COMMAND_RING_SIZE]; /**< Reservierungsflags für die Kommandos */
- unsigned int cmd_ring_index; /**< Index des nächsten Kommandos im Ring */
-#endif
-
int debug_level; /**< Debug-Level im Master-Code */
}
EtherCAT_master_t;
@@ -68,81 +58,30 @@ EtherCAT_master_t;
int EtherCAT_master_init(EtherCAT_master_t *, EtherCAT_device_t *);
void EtherCAT_master_clear(EtherCAT_master_t *);
-// Slave management
-int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
-void EtherCAT_clear_slaves(EtherCAT_master_t *);
-int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
-int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
-int EtherCAT_activate_all_slaves(EtherCAT_master_t *);
-int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *);
-
// Sending and receiving
-#if 0
-int EtherCAT_async_send_receive(EtherCAT_master_t *);
-int EtherCAT_send(EtherCAT_master_t *);
-int EtherCAT_receive(EtherCAT_master_t *);
-#endif
int EtherCAT_simple_send_receive(EtherCAT_master_t *, EtherCAT_command_t *);
int EtherCAT_simple_send(EtherCAT_master_t *, EtherCAT_command_t *);
int EtherCAT_simple_receive(EtherCAT_master_t *, EtherCAT_command_t *);
-int EtherCAT_write_process_data(EtherCAT_master_t *);
-int EtherCAT_read_process_data(EtherCAT_master_t *);
-void EtherCAT_clear_process_data(EtherCAT_master_t *);
-
-/***************************************************************/
-
-// Slave information interface
+// Slave management
+int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
+void EtherCAT_clear_slaves(EtherCAT_master_t *);
int EtherCAT_read_slave_information(EtherCAT_master_t *,
unsigned short int,
unsigned short int,
unsigned int *);
-
-// EtherCAT commands
-#if 0
-EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
- unsigned short,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
- unsigned short,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
- short,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
- short,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
- unsigned short,
- unsigned int);
-EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
- unsigned short,
- unsigned int,
- const unsigned char *);
-EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
- unsigned int,
- unsigned int,
- unsigned char *);
-
-void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
-#endif
-
-// Slave states
+int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
+int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
+int EtherCAT_activate_all_slaves(EtherCAT_master_t *);
+int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *);
int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
-/***************************************************************/
+// Process data
+int EtherCAT_write_process_data(EtherCAT_master_t *);
+int EtherCAT_read_process_data(EtherCAT_master_t *);
+void EtherCAT_clear_process_data(EtherCAT_master_t *);
// Private functions
-#if 0
-EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *);
-int add_command(EtherCAT_master_t *, EtherCAT_command_t *);
-#endif
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);
diff --git a/drivers/ec_types.c b/drivers/ec_types.c
index 5db77407..9729c952 100644
--- a/drivers/ec_types.c
+++ b/drivers/ec_types.c
@@ -143,7 +143,7 @@ EtherCAT_slave_desc_t Beckhoff_EL5001[] =
unsigned int slave_idents_count = 7;
-struct slave_ident slave_idents[] =
+struct slave_ident slave_idents[] =
{
{0x00000002, 0x03F63052, Beckhoff_EL1014},
{0x00000002, 0x044C2C52, Beckhoff_EK1100},
--
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