From e1d91ca3c915e28ecac1cca5cc7b2abd1a86b63f Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Mon, 20 Mar 2006 15:28:25 +0000
Subject: [PATCH] Slave alias implementiert.
---
include/ecrt.h | 2 +
master/master.c | 115 +++++++++++++++++++++++++++++++++++-------------
master/slave.c | 94 ++++++++++++++++++++++++++++++++++++---
master/slave.h | 2 +
mini/mini.c | 10 ++++-
5 files changed, 187 insertions(+), 36 deletions(-)
diff --git a/include/ecrt.h b/include/ecrt.h
index 499e7105..357f2487 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -69,6 +69,8 @@ int ecrt_master_sdo_read(ec_master_t *master,
uint16_t sdo_index,
uint8_t sdo_subindex,
uint32_t *value);
+int ecrt_master_write_slave_alias(ec_master_t *master,
+ const char *slave_address, uint16_t alias);
/*****************************************************************************/
// Domain Methods
diff --git a/master/master.c b/master/master.c
index 6e294108..69d6da30 100644
--- a/master/master.c
+++ b/master/master.c
@@ -524,11 +524,13 @@ void ec_master_output_stats(ec_master_t *master /**< EtherCAT-Master */)
Wandelt eine ASCII-kodierte Bus-Adresse in einen Slave-Zeiger.
Gültige Adress-Strings sind Folgende:
-
- \a "X" = der X. Slave im Bus,
- \a "X:Y" = der Y. Slave hinter dem X. Buskoppler,
- - \a "#X" = der Slave mit der SSID X,
- - \a "#X:Y" = der Y. Slave hinter dem Buskoppler mit der SSID X.
+ - \a "#X" = der Slave mit dem Alias X,
+ - \a "#X:Y" = der Y. Slave hinter dem Buskoppler mit dem Alias X.
+
+ X und Y fangen immer bei 0 an und können auch hexadezimal oder oktal
+ angegeben werden (mit entsprechendem Prefix).
\return Zeiger auf Slave bei Erfolg, sonst NULL
*/
@@ -541,65 +543,94 @@ ec_slave_t *ec_master_slave_address(const ec_master_t *master,
{
unsigned long first, second;
char *remainder, *remainder2;
- unsigned int i;
+ unsigned int i, alias_requested, alias_slave_index, alias_found;
int coupler_idx, slave_idx;
ec_slave_t *slave;
if (!address || address[0] == 0) return NULL;
+ alias_requested = 0;
+ alias_slave_index = 0;
if (address[0] == '#') {
- EC_ERR("Bus ID \"%s\" - #<SSID> not implemented yet!\n", address);
- return NULL;
+ alias_requested = 1;
+ address++;
}
first = simple_strtoul(address, &remainder, 0);
if (remainder == address) {
- EC_ERR("Bus ID \"%s\" - First number empty!\n", address);
+ EC_ERR("Slave address \"%s\" - First number empty!\n", address);
return NULL;
}
- if (!remainder[0]) { // absolute position
- if (first < master->slave_count) {
- return master->slaves + first;
+ if (alias_requested) {
+ alias_found = 0;
+ for (i = 0; i < master->slave_count; i++) {
+ if (master->slaves[i].sii_alias == first) {
+ alias_slave_index = i;
+ alias_found = 1;
+ break;
+ }
+ }
+ if (!alias_found) {
+ EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
+ return NULL;
}
-
- EC_ERR("Bus ID \"%s\" - Absolute position invalid!\n", address);
}
+ if (!remainder[0]) { // absolute position
+ if (alias_requested) {
+ return master->slaves + alias_slave_index;
+ }
+ else {
+ if (first < master->slave_count) {
+ return master->slaves + first;
+ }
+ EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
+ address);
+ }
+ }
else if (remainder[0] == ':') { // field position
-
remainder++;
second = simple_strtoul(remainder, &remainder2, 0);
if (remainder2 == remainder) {
- EC_ERR("Bus ID \"%s\" - Sencond number empty!\n", address);
+ EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
return NULL;
}
if (remainder2[0]) {
- EC_ERR("Bus ID \"%s\" - Invalid trailer (2)!\n", address);
+ EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
return NULL;
}
- coupler_idx = -1;
- slave_idx = 0;
- for (i = 0; i < master->slave_count; i++, slave_idx++) {
- slave = master->slaves + i;
- if (!slave->type) continue;
-
- if (slave->type->bus_coupler) {
- coupler_idx++;
- slave_idx = 0;
+ if (alias_requested) {
+ for (i = alias_slave_index + 1; i < master->slave_count; i++) {
+ slave = master->slaves + i;
+ if (!slave->type || slave->type->bus_coupler) break;
+ if (i - alias_slave_index - 1 == second) return slave;
+ }
+ EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
+ " following!\n", address,
+ (master->slaves + alias_slave_index)->ring_position,
+ second);
+ return NULL;
+ }
+ else {
+ coupler_idx = -1;
+ slave_idx = 0;
+ for (i = 0; i < master->slave_count; i++, slave_idx++) {
+ slave = master->slaves + i;
+ if (!slave->type) continue; // FIXME
+ if (slave->type->bus_coupler) {
+ coupler_idx++;
+ slave_idx = 0;
+ }
+ if (coupler_idx == first && slave_idx == second) return slave;
}
-
- if (coupler_idx == first && slave_idx == second) return slave;
}
}
-
else
- EC_ERR("Bus ID \"%s\" - Invalid trailer!\n", address);
-
- // FIXME ???
+ EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
return NULL;
}
@@ -1030,6 +1061,29 @@ void ecrt_master_print(const ec_master_t *master /**< EtherCAT-Master */)
/*****************************************************************************/
+/**
+ Schreibt den "Configured station alias".
+
+ \return 0, wenn alles ok, sonst < 0
+*/
+
+int ecrt_master_write_slave_alias(ec_master_t *master,
+ /** EtherCAT-Master */
+ const char *slave_address,
+ /** Slave-Adresse,
+ siehe ec_master_slave_address() */
+ uint16_t alias
+ /** Neuer Alias */
+ )
+{
+ ec_slave_t *slave;
+ if (!(slave = ec_master_slave_address(master, slave_address)))
+ return -1;
+ return ec_slave_sii_write(slave, 0x0004, alias);
+}
+
+/*****************************************************************************/
+
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_deactivate);
@@ -1039,6 +1093,7 @@ EXPORT_SYMBOL(ecrt_master_async_send);
EXPORT_SYMBOL(ecrt_master_async_receive);
EXPORT_SYMBOL(ecrt_master_debug);
EXPORT_SYMBOL(ecrt_master_print);
+EXPORT_SYMBOL(ecrt_master_write_slave_alias);
/*****************************************************************************/
diff --git a/master/slave.c b/master/slave.c
index 69f7f347..a429023c 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -34,6 +34,7 @@ void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
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;
@@ -85,6 +86,12 @@ int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
// 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;
@@ -134,10 +141,9 @@ int ec_slave_sii_read(ec_slave_t *slave,
// Initiate read operation
- EC_WRITE_U8 (data, 0x00);
- EC_WRITE_U8 (data + 1, 0x01);
- EC_WRITE_U16(data + 2, offset);
- EC_WRITE_U16(data + 4, 0x0000);
+ 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))) {
@@ -166,7 +172,7 @@ int ec_slave_sii_read(ec_slave_t *slave,
end = get_cycles();
if (likely((EC_READ_U8(command.data + 1) & 0x81) == 0)) {
- memcpy(target, command.data + 6, 4);
+ *target = EC_READ_U32(command.data + 6);
return 0;
}
@@ -179,6 +185,81 @@ int ec_slave_sii_read(ec_slave_t *slave,
/*****************************************************************************/
+/**
+ 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 = cpu_khz; // 1ms
+
+ 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("SSI-write: Slave %i timed out!\n", slave->ring_position);
+ return -1;
+ }
+ }
+}
+
+/*****************************************************************************/
+
/**
Bestätigt einen Fehler beim Zustandswechsel.
@@ -377,6 +458,8 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
slave->base_fmmu_count, slave->base_sync_count);
EC_INFO(" Slave information interface:\n");
+ 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",
@@ -429,3 +512,4 @@ int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)
;;; c-basic-offset:4 ***
;;; End: ***
*/
+
diff --git a/master/slave.h b/master/slave.h
index 0dfb1783..edaaa3af 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -71,6 +71,7 @@ struct ec_slave
uint16_t base_sync_count; /**< Anzahl unterstützter Sync-Manager */
// Slave information interface
+ uint16_t sii_alias; /**< Configured station alias */
uint32_t sii_vendor_id; /**< Identifikationsnummer des Herstellers */
uint32_t sii_product_code; /**< Herstellerspezifischer Produktcode */
uint32_t sii_revision_number; /**< Revisionsnummer */
@@ -94,6 +95,7 @@ void ec_slave_clear(ec_slave_t *);
// Slave control
int ec_slave_fetch(ec_slave_t *);
int ec_slave_sii_read(ec_slave_t *, uint16_t, uint32_t *);
+int ec_slave_sii_write(ec_slave_t *, uint16_t, uint16_t);
int ec_slave_state_change(ec_slave_t *, uint8_t);
int ec_slave_set_fmmu(ec_slave_t *, const ec_domain_t *, const ec_sync_t *);
diff --git a/mini/mini.c b/mini/mini.c
index 8132a1b5..26327510 100644
--- a/mini/mini.c
+++ b/mini/mini.c
@@ -45,7 +45,7 @@ ec_field_init_t domain1_fields[] = {
{NULL, "6", "Beckhoff", "EL1014", "InputValue", 0},
{NULL, "7", "Beckhoff", "EL2004", "OutputValue", 0},
{NULL, "8", "Beckhoff", "EL4132", "OutputValue", 0},
- {NULL, "9", "Beckhoff", "EL4132", "OutputValue", 0},
+ {NULL, "#48879:8", "Beckhoff", "EL4132", "OutputValue", 0},
{}
};
@@ -144,6 +144,14 @@ int __init init_mini_module(void)
//ecrt_master_debug(master, 0);
+#if 0
+ printk(KERN_INFO "Writing alias...\n");
+ if (ecrt_master_write_slave_alias(master, "0", 0xBEEF)) {
+ printk(KERN_ERR "EtherCAT: Failed to write alias!\n");
+ goto out_deactivate;
+ }
+#endif
+
#ifdef ASYNC
// Einmal senden und warten...
ecrt_master_prepare_async_io(master);
--
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