From efea4bf0944111f83155c4cf949b1afd48fac3be Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 6 Jan 2006 13:20:29 +0000
Subject: [PATCH] Prozessdatentimeout, Buszeit und weniger Klemmen.
---
drivers/ec_master.c | 42 ++++++++++++-------------
drivers/ec_master.h | 7 ++---
mini/ec_mini.c | 2 +-
rt/msr_module.c | 75 +++++++++++----------------------------------
4 files changed, 41 insertions(+), 85 deletions(-)
diff --git a/drivers/ec_master.c b/drivers/ec_master.c
index 8f5ff353..9dc81a68 100644
--- a/drivers/ec_master.c
+++ b/drivers/ec_master.c
@@ -33,9 +33,7 @@ void EtherCAT_master_init(EtherCAT_master_t *master)
master->rx_data_length = 0;
master->domain_count = 0;
master->debug_level = 0;
- master->tx_time = 0;
- master->rx_time = 0;
- master->rx_tries = 0;
+ master->bus_time = 0;
}
/*****************************************************************************/
@@ -250,9 +248,6 @@ int EtherCAT_simple_send(EtherCAT_master_t *master,
printk(KERN_DEBUG "device send...\n");
}
- // Zeit nehmen
- rdtscl(master->tx_time);
-
// Send frame
if (unlikely(EtherCAT_device_send(master->dev,
master->tx_data,
@@ -995,18 +990,21 @@ int EtherCAT_deactivate_slave(EtherCAT_master_t *master,
/**
Sendet und empfängt Prozessdaten der angegebenen Domäne
- @param master EtherCAT-Master
- domain Domäne
+ @param master EtherCAT-Master
+ domain Domäne
+ timeout_us Timeout in Mikrosekunden
@return 0 bei Erfolg, sonst < 0
*/
-int EtherCAT_process_data_cycle(EtherCAT_master_t *master,
- unsigned int domain)
+int EtherCAT_process_data_cycle(EtherCAT_master_t *master, unsigned int domain,
+ unsigned int timeout_us)
{
- unsigned int i, tries;
- EtherCAT_domain_t *dom = NULL;
+ unsigned int i;
+ EtherCAT_domain_t *dom;
+ unsigned long start_ticks, end_ticks, timeout_ticks;
+ dom = NULL;
for (i = 0; i < master->domain_count; i++) {
if (master->domains[i].number == domain) {
dom = master->domains + i;
@@ -1023,27 +1021,26 @@ int EtherCAT_process_data_cycle(EtherCAT_master_t *master,
dom->logical_offset, dom->data_size,
dom->data);
+ rdtscl(start_ticks); // Sendezeit nehmen
+
if (unlikely(EtherCAT_simple_send(master, &dom->command) < 0)) {
printk(KERN_ERR "EtherCAT: Could not send process data command!\n");
return -1;
}
- udelay(3);
+ timeout_ticks = timeout_us * cpu_khz / 1000;
-#if 1
// Warten
- tries = 0;
- EtherCAT_device_call_isr(master->dev);
- while (unlikely(master->dev->state == ECAT_DS_SENT && tries < 100)) {
- udelay(1);
+ do {
EtherCAT_device_call_isr(master->dev);
- tries++;
+ rdtscl(end_ticks); // Empfangszeit nehmen
}
+ while (unlikely(master->dev->state == ECAT_DS_SENT
+ && end_ticks - start_ticks < timeout_ticks));
- rdtscl(master->rx_time);
- master->rx_tries = tries;
+ master->bus_time = (end_ticks - start_ticks) * 1000 / cpu_khz;
- if (unlikely(tries == 100)) {
+ if (unlikely(end_ticks - start_ticks >= timeout_ticks)) {
printk(KERN_ERR "EtherCAT: Timeout while receiving process data!\n");
return -1;
}
@@ -1060,7 +1057,6 @@ int EtherCAT_process_data_cycle(EtherCAT_master_t *master,
// Daten vom Kommando in den Prozessdatenspeicher kopieren
memcpy(dom->data, dom->command.data, dom->data_size);
-#endif
return 0;
}
diff --git a/drivers/ec_master.h b/drivers/ec_master.h
index 2615ee1b..5b00117b 100644
--- a/drivers/ec_master.h
+++ b/drivers/ec_master.h
@@ -39,9 +39,7 @@ struct EtherCAT_master
EtherCAT_domain_t domains[ECAT_MAX_DOMAINS]; /** Prozessdatendomänen */
unsigned int domain_count;
int debug_level; /**< Debug-Level im Master-Code */
- unsigned long tx_time; /**< Zeit des letzten Sendens */
- unsigned long rx_time; /**< Zeit des letzten Empfangs */
- unsigned int rx_tries; /**< Anzahl Warteschleifen beim letzen Enpfang */
+ unsigned int bus_time; /**< Letzte Bus-Zeit in Mikrosekunden */
};
/*****************************************************************************/
@@ -70,7 +68,8 @@ int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *,
unsigned char);
// Process data
-int EtherCAT_process_data_cycle(EtherCAT_master_t *, unsigned int);
+int EtherCAT_process_data_cycle(EtherCAT_master_t *, unsigned int,
+ unsigned int);
// Private functions
void output_debug_data(const EtherCAT_master_t *);
diff --git a/mini/ec_mini.c b/mini/ec_mini.c
index 837ff458..e7f5e74d 100644
--- a/mini/ec_mini.c
+++ b/mini/ec_mini.c
@@ -173,7 +173,7 @@ static void run(unsigned long data)
// Prozessdaten lesen und schreiben
rdtscl(k);
- EtherCAT_process_data_cycle(ecat_master, 1);
+ EtherCAT_process_data_cycle(ecat_master, 1, 100);
firstrun = 0;
timer.expires += HZ / 1000;
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 549f733c..b8a14298 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -3,9 +3,8 @@
* msr_module.c
*
* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
- * Zeitgeber ist der Timerinterrupt (tq)
*
- * Autor: Wilhelm Hagemeister
+ * Autor: Wilhelm Hagemeister, Florian Pose
*
* (C) Copyright IgH 2002
* Ingenieurgemeinschaft IgH
@@ -40,7 +39,7 @@
// Defines/Makros
#define TSC2US(T1, T2) ((T2 - T1) * 1000UL / cpu_khz)
-#define HZREDUCTION (MSR_ABTASTFREQUENZ/HZ)
+#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
/*****************************************************************************/
/* Globale Variablen */
@@ -56,11 +55,11 @@ static struct ipipe_sysinfo sys_info;
// EtherCAT
static EtherCAT_master_t *ecat_master = NULL;
-static unsigned long ecat_bus_time = 0;
+static unsigned int ecat_bus_time = 0;
+static unsigned int ecat_timeouts = 0;
static EtherCAT_slave_t ecat_slaves[] =
{
-#if 1
// Block 1
ECAT_INIT_SLAVE(Beckhoff_EK1100, 0),
ECAT_INIT_SLAVE(Beckhoff_EL4102, 0),
@@ -69,10 +68,6 @@ static EtherCAT_slave_t ecat_slaves[] =
ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
ECAT_INIT_SLAVE(Beckhoff_EL3102, 0),
ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
- ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
- ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
- ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
- ECAT_INIT_SLAVE(Beckhoff_EL2004, 0),
// Block 2
ECAT_INIT_SLAVE(Beckhoff_EK1100, 1),
@@ -88,24 +83,6 @@ static EtherCAT_slave_t ecat_slaves[] =
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1),
ECAT_INIT_SLAVE(Beckhoff_EL1014, 1)
-#endif
-
-#if 0
- // Block 3
- ,ECAT_INIT_SLAVE(Beckhoff_EK1100, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL3162, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL3162, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL3162, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL3162, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL3102, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL3102, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL3102, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL4102, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL4102, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL4102, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL4102, 2),
- ECAT_INIT_SLAVE(Beckhoff_EL4132, 2)
-#endif
};
#define ECAT_SLAVES_COUNT (sizeof(ecat_slaves) / sizeof(EtherCAT_slave_t))
@@ -157,7 +134,6 @@ static void msr_controller_run(void)
{
static int ms = 0;
static int cnt = 0;
- static unsigned long int k = 0;
static int firstrun = 1;
static int klemme = 0;
@@ -166,9 +142,9 @@ static void msr_controller_run(void)
int wrap = 0;
static unsigned int debug_counter = 0;
- unsigned long t1, t2, t3, t4, t5, t6, t7;
+ unsigned long t1, t2, t3;
+ unsigned int bustime1, bustime2;
static unsigned long lt = 0;
- unsigned int tr1, tr2;
rdtscl(t1);
@@ -200,33 +176,21 @@ static void msr_controller_run(void)
EtherCAT_write_value(&ecat_slaves[klemme], kanal, up_down);
}
-#if 0
- EtherCAT_write_value(&ecat_master->slaves[13], 1, ms > 500 ? 0 : 1);
- EtherCAT_write_value(&ecat_master->slaves[14], 2, ms > 500 ? 0 : 1);
- EtherCAT_write_value(&ecat_master->slaves[15], 3, ms > 500 ? 1 : 0);
-#endif
-
// Prozessdaten schreiben
- rdtscl(k);
- rdtscl(t2);
- EtherCAT_process_data_cycle(ecat_master, 0);
-
- t3 = ecat_master->tx_time;
- t4 = ecat_master->rx_time;
- tr1 = ecat_master->rx_tries;
-
- EtherCAT_process_data_cycle(ecat_master, 1);
+ rdtscl(t2);
- t5 = ecat_master->tx_time;
- t6 = ecat_master->rx_time;
- tr2 = ecat_master->rx_tries;
+ if (EtherCAT_process_data_cycle(ecat_master, 0, 40) < 0)
+ ecat_timeouts++;
+ bustime1 = ecat_master->bus_time;
- //EtherCAT_process_data_cycle(ecat_master, 2);
+ if (EtherCAT_process_data_cycle(ecat_master, 1, 40) < 0)
+ ecat_timeouts++;
+ bustime2 = ecat_master->bus_time;
- rdtscl(t7);
+ rdtscl(t3);
- ecat_bus_time = TSC2US(t2, t7);
+ ecat_bus_time = TSC2US(t2, t3);
// Daten lesen und skalieren
#ifdef USE_MSR_LIB
@@ -235,12 +199,8 @@ static void msr_controller_run(void)
#endif
if (debug_counter == MSR_ABTASTFREQUENZ) {
- printk(KERN_DEBUG "%lu: %luŽµs + %luŽµs + %luŽµs + %luŽµs + %luŽµs +"
- " %luŽµs = %luŽµs (%u %u)\n",
- TSC2US(lt, t1),
- TSC2US(t1, t2), TSC2US(t2, t3), TSC2US(t3, t4),
- TSC2US(t4, t5), TSC2US(t5, t6), TSC2US(t6, t7),
- TSC2US(t1, t7), tr1, tr2);
+ printk(KERN_DEBUG "%lu: %luŽµs + %uŽµs + %uŽµs = %luŽµs\n", TSC2US(lt, t1),
+ TSC2US(t1, t2), bustime1, bustime2, TSC2US(t1, t3));
debug_counter = 0;
}
@@ -318,6 +278,7 @@ int msr_globals_register(void)
#endif
msr_reg_kanal("/Taskinfo/EtherCAT/BusTime", "us", &ecat_bus_time, TUINT);
+ msr_reg_kanal("/Taskinfo/EtherCAT/Timeouts", "", &ecat_timeouts, TUINT);
return 0;
}
--
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