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This commit is contained in:
Martin Troxler
2010-10-18 10:45:07 +02:00
parent 911e09392f 19a1a019ea
commit a55d77d7ed
54 changed files with 1791 additions and 920 deletions
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.hgignore
+1
View File
@@ -7,6 +7,7 @@ syntax: glob
**.o
**.o.cmd
**.swp
**~
.tmp_versions
ChangeLog
Doxyfile
TODO
+23 -26
View File
@@ -13,38 +13,28 @@ Version 1.5.0:
* Ethernet drivers:
- Fix link detection in generic driver.
- Add native drivers from 2.6.24 up to 2.6.31.
* Finish library implementation.
- Remove stdio uses?
* Rescan command.
* Change SDO index at runtime for SDO request.
* Output skipped datagrams again.
* Output warning when send_ext() is called in illegal context.
* Implement CompleteAccess for SDO uploads.
* Check for Enable SDO Complete Access flag.
* Remove allow_scanning flag.
* ethercat tool:
- Output error after usage.
- Data type abbreviations.
- Implement ranges for slaves and domains.
- Add -x switch for hex display.
- Implement CompleteAccess
- Implement --output-file argument in foe_read.
- Fix arguments of reg_read.
- Number layout for reg_read.
- Implement identifier parameter for cstruct command.
- Implement sync delimiter for cstruct command.
- Implement indent in 'ethercat ma'
- Implement 0xXXXX:YY format for specifying SDOs.
- Implement reading from stream for soe_write.
- Fix AL state display if error bit set.
* recompile tool/CommandVersion.cpp if revision changes.
* Log SoE IDNs with real name ([SP]-x-yyyy).
* Output SoE IDN configurations in 'ethercat config'.
* Fix casting away constness during expected WC calculation.
* Read AL status code on spontaneous state change.
* Include SoE drive_no in ethercat tool.
Future issues:
* Remove allow_scanning flag.
* Output skipped datagrams again.
* Check for Enable SDO Complete Access flag.
* Do not output 'SDO does not exist' when querying data type.
* Always write down PDO assignment/mapping in doubt? If not, add an interface
for enforcing this.
* Read AL status code on spontaneous state change.
* recompile tool/CommandVersion.cpp if revision changes.
* Log SoE IDNs with real name ([SP]-x-yyyy).
* Output SoE IDN configurations in 'ethercat config'.
* Only output watchdog config if not default.
* Implement CompleteAccess for SDO uploads.
* Output warning when send_ext() is called in illegal context.
* Change SDO index at runtime for SDO request.
* Implement ecrt_slave_config_request_state().
* Remove default buffer size in SDO upload.
* Override sync manager size?
@@ -77,9 +67,16 @@ Future issues:
- Add a -n (numeric) switch.
- Check for unwanted options.
- Fix number of digits in negative integer hex output.
- Data type abbreviations.
- Add -x switch for hex display.
- Implement CompleteAccess
- Implement --output-file argument in foe_read.
- Implement indent in 'ethercat ma'
- Implement 0xXXXX:YY format for specifying SDOs.
- Implement reading from stream for soe_write.
* Simplify master fsm by introducing a common request state to handle external
requests (replace write_sii, sdo_request, etc).
* Write PDO mapping/assignment by default?
* Remove stdio uses in userspace library?
Smaller issues:
configure.ac
+24
View File
@@ -512,6 +512,30 @@ if test "x${hrtimer}" = "x1"; then
AC_DEFINE([EC_USE_HRTIMER], [1], [Use hrtimer for scheduling])
fi
#------------------------------------------------------------------------------
# Read alias address from register
#------------------------------------------------------------------------------
AC_ARG_ENABLE([regalias],
AS_HELP_STRING([--enable-regalias],
[Read alias adresses from register (default: no)]),
[
case "${enableval}" in
yes) regalias=1
;;
no) regalias=0
;;
*) AC_MSG_ERROR([Invalid value for --enable-regalias])
;;
esac
],
[regalias=0]
)
if test "x${regalias}" = "x1"; then
AC_DEFINE([EC_REGALIAS], [1], [Read alias adresses from register])
fi
#------------------------------------------------------------------------------
# Command-line tool
#-----------------------------------------------------------------------------
devices/e100-2.6.31-ethercat.c
+1 -1
View File
@@ -704,7 +704,7 @@ static void e100_enable_irq(struct nic *nic)
static void e100_disable_irq(struct nic *nic)
{
unsigned long flags;
unsigned long flags = 0;
if (!nic->ecdev)
spin_lock_irqsave(&nic->cmd_lock, flags);
devices/r8169-2.6.31-ethercat.c
+311 -242
View File
File diff suppressed because it is too large Load Diff
devices/r8169-2.6.31-orig.c
+303 -235
View File
File diff suppressed because it is too large Load Diff
examples/dc_user/main.c
-1
View File
@@ -143,7 +143,6 @@ void cyclic_task()
// check for master state (optional)
check_master_state();
}
if (blink_counter) {
examples/rtai/rtai_sample.c
+4 -4
View File
@@ -76,8 +76,8 @@ static cycles_t t_last_cycle = 0, t_critical;
// process data
static uint8_t *domain1_pd; // process data memory
#define AnaInSlavePos 0, 1
#define DigOutSlavePos 0, 3
#define AnaInSlavePos 0, 3
#define DigOutSlavePos 0, 2
#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
@@ -286,8 +286,8 @@ int __init init_mod(void)
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
master = ecrt_request_master(0);
if (IS_ERR(master)) {
ret = PTR_ERR(master);
if (!master) {
ret = -EBUSY;
printk(KERN_ERR PFX "Requesting master 0 failed!\n");
goto out_return;
}
include/ecrt.h
+20 -4
View File
@@ -416,6 +416,17 @@ typedef enum {
EC_REQUEST_ERROR, /**< Request processing failed. */
} ec_request_state_t;
/*****************************************************************************/
/** Application-layer state.
*/
typedef enum {
EC_AL_STATE_INIT = 1, /**< Init. */
EC_AL_STATE_PREOP = 2, /**< Pre-operational. */
EC_AL_STATE_SAFEOP = 4, /**< Safe-operational. */
EC_AL_STATE_OP = 8, /**< Operational. */
} ec_al_state_t;
/******************************************************************************
* Global functions
*****************************************************************************/
@@ -697,6 +708,8 @@ int ecrt_master_sdo_upload(
uint32_t *abort_code /**< Abort code of the SDO upload. */
);
#endif /* #ifndef __KERNEL__ */
/** Executes an SoE write request.
*
* Starts writing an IDN and blocks until the request was processed, or an
@@ -708,10 +721,11 @@ int ecrt_master_sdo_upload(
int ecrt_master_write_idn(
ec_master_t *master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint8_t drive_no, /**< Drive number. */
uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */
uint8_t *data, /**< Pointer to data to write. */
size_t data_size, /**< Size of data to write. */
uint32_t *error_code /**< Pointer to variable, where an SoE error code
uint16_t *error_code /**< Pointer to variable, where an SoE error code
can be stored. */
);
@@ -726,17 +740,16 @@ int ecrt_master_write_idn(
int ecrt_master_read_idn(
ec_master_t *master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint8_t drive_no, /**< Drive number. */
uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */
uint8_t *target, /**< Pointer to memory where the read data can be
stored. */
size_t target_size, /**< Size of the memory \a target points to. */
size_t *result_size, /**< Actual size of the received data. */
uint32_t *error_code /**< Pointer to variable, where an SoE error code
uint16_t *error_code /**< Pointer to variable, where an SoE error code
can be stored. */
);
#endif /* #ifndef __KERNEL__ */
/** Finishes the configuration phase and prepares for cyclic operation.
*
* This function tells the master that the configuration phase is finished and
@@ -1258,7 +1271,10 @@ void ecrt_slave_config_state(
*/
int ecrt_slave_config_idn(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t drive_no, /**< Drive number. */
uint16_t idn, /**< SoE IDN. */
ec_al_state_t state, /**< AL state in which to write the IDN (PREOP or
SAFEOP). */
const uint8_t *data, /**< Pointer to the data. */
size_t size /**< Size of the \a data. */
);
lib/common.c
+10 -13
View File
@@ -55,9 +55,9 @@ ec_master_t *ecrt_request_master(unsigned int master_index)
ec_master_t *master = ecrt_open_master(master_index);
if (master) {
if (ecrt_master_reserve(master) < 0) {
close(master->fd);
ec_master_clear(master);
free(master);
master = 0;
master = NULL;
}
}
@@ -82,19 +82,21 @@ ec_master_t *ecrt_open_master(unsigned int master_index)
master->process_data = NULL;
master->process_data_size = 0;
master->first_domain = NULL;
master->first_config = NULL;
snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
master->fd = open(path, O_RDWR);
if (master->fd == -1) {
fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
goto out_free;
goto out_clear;
}
if (ioctl(master->fd, EC_IOCTL_MODULE, &module_data) < 0) {
fprintf(stderr, "Failed to get module information from %s: %s\n",
path, strerror(errno));
goto out_close;
goto out_clear;
}
if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {
@@ -102,14 +104,13 @@ ec_master_t *ecrt_open_master(unsigned int master_index)
" %s: %u, libethercat: %u.\n",
path, module_data.ioctl_version_magic,
EC_IOCTL_VERSION_MAGIC);
goto out_close;
goto out_clear;
}
return master;
out_close:
close(master->fd);
out_free:
out_clear:
ec_master_clear(master);
free(master);
return 0;
}
@@ -118,11 +119,7 @@ out_free:
void ecrt_release_master(ec_master_t *master)
{
if (master->process_data) {
munmap(master->process_data, master->process_data_size);
}
close(master->fd);
ec_master_clear(master);
free(master);
}
lib/domain.c
+7
View File
@@ -47,6 +47,13 @@
/*****************************************************************************/
void ec_domain_clear(ec_domain_t *domain)
{
// nothing to do
}
/*****************************************************************************/
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
const ec_pdo_entry_reg_t *regs)
{
lib/domain.h
+5
View File
@@ -33,9 +33,14 @@
/*****************************************************************************/
struct ec_domain {
ec_domain_t *next;
unsigned int index;
ec_master_t *master;
uint8_t *process_data;
};
/*****************************************************************************/
void ec_domain_clear(ec_domain_t *);
/*****************************************************************************/
lib/master.c
+87 -5
View File
@@ -53,6 +53,60 @@ int ecrt_master_reserve(ec_master_t *master)
/*****************************************************************************/
void ec_master_clear_config(ec_master_t *master)
{
ec_domain_t *d, *next_d;
ec_slave_config_t *c, *next_c;
d = master->first_domain;
while (d) {
next_d = d->next;
ec_domain_clear(d);
d = next_d;
}
master->first_domain = NULL;
c = master->first_config;
while (c) {
next_c = c->next;
ec_slave_config_clear(c);
c = next_c;
}
master->first_config = NULL;
}
/*****************************************************************************/
void ec_master_clear(ec_master_t *master)
{
if (master->process_data) {
munmap(master->process_data, master->process_data_size);
}
ec_master_clear_config(master);
if (master->fd != -1) {
close(master->fd);
}
}
/*****************************************************************************/
void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain)
{
if (master->first_domain) {
ec_domain_t *d = master->first_domain;
while (d->next) {
d = d->next;
}
d->next = domain;
} else {
master->first_domain = domain;
}
}
/*****************************************************************************/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
{
ec_domain_t *domain;
@@ -71,14 +125,33 @@ ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
return 0;
}
domain->next = NULL;
domain->index = (unsigned int) index;
domain->master = master;
domain->process_data = NULL;
ec_master_add_domain(master, domain);
return domain;
}
/*****************************************************************************/
void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc)
{
if (master->first_config) {
ec_slave_config_t *c = master->first_config;
while (c->next) {
c = c->next;
}
c->next = sc;
} else {
master->first_config = sc;
}
}
/*****************************************************************************/
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
uint16_t alias, uint16_t position, uint32_t vendor_id,
uint32_t product_code)
@@ -105,10 +178,16 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
return 0;
}
sc->next = NULL;
sc->master = master;
sc->index = data.config_index;
sc->alias = alias;
sc->position = position;
sc->first_sdo_request = NULL;
sc->first_voe_handler = NULL;
ec_master_add_slave_config(master, sc);
return sc;
}
@@ -314,11 +393,13 @@ int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
/*****************************************************************************/
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
uint16_t idn, uint8_t *data, size_t data_size, uint32_t *error_code)
uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
uint16_t *error_code)
{
ec_ioctl_slave_soe_write_t io;
io.slave_position = slave_position;
io.drive_no = drive_no;
io.idn = idn;
io.data_size = data_size;
io.data = data;
@@ -337,12 +418,13 @@ int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
/*****************************************************************************/
int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
uint16_t idn, uint8_t *target, size_t target_size,
size_t *result_size, uint32_t *error_code)
uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
size_t *result_size, uint16_t *error_code)
{
ec_ioctl_slave_soe_read_t io;
io.slave_position = slave_position;
io.drive_no = drive_no;
io.idn = idn;
io.mem_size = target_size;
io.data = target;
@@ -395,8 +477,9 @@ void ecrt_master_deactivate(ec_master_t *master)
fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
return;
}
}
ec_master_clear_config(master);
}
/*****************************************************************************/
@@ -411,7 +494,6 @@ int ecrt_master_set_send_interval(ec_master_t *master,size_t send_interval_us)
return 0;
}
/*****************************************************************************/
void ecrt_master_send(ec_master_t *master)
lib/master.h
+7
View File
@@ -36,6 +36,13 @@ struct ec_master {
int fd;
uint8_t *process_data;
size_t process_data_size;
ec_domain_t *first_domain;
ec_slave_config_t *first_config;
};
/*****************************************************************************/
void ec_master_clear(ec_master_t *);
/*****************************************************************************/
lib/sdo_request.c
+10 -1
View File
@@ -43,8 +43,17 @@
#include "slave_config.h"
#include "master.h"
/*****************************************************************************/
void ec_sdo_request_clear(ec_sdo_request_t *req)
{
if (req->data) {
free(req->data);
}
}
/*****************************************************************************
* Realtime interface.
* Application interface.
****************************************************************************/
void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
lib/sdo_request.h
+5
View File
@@ -33,6 +33,7 @@
/*****************************************************************************/
struct ec_sdo_request {
ec_sdo_request_t *next; /**< List header. */
ec_slave_config_t *config; /**< Parent slave configuration. */
unsigned int index; /**< Request index (identifier). */
uint16_t sdo_index; /**< SDO index. */
@@ -43,3 +44,7 @@ struct ec_sdo_request {
};
/*****************************************************************************/
void ec_sdo_request_clear(ec_sdo_request_t *);
/*****************************************************************************/
lib/slave_config.c
+69 -6
View File
@@ -43,6 +43,29 @@
/*****************************************************************************/
void ec_slave_config_clear(ec_slave_config_t *sc)
{
ec_sdo_request_t *r, *next_r;
ec_voe_handler_t *v, *next_v;
r = sc->first_sdo_request;
while (r) {
next_r = r->next;
ec_sdo_request_clear(r);
r = next_r;
}
v = sc->first_voe_handler;
while (v) {
next_v = v->next;
ec_voe_handler_clear(v);
v = next_v;
}
}
/*****************************************************************************/
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
{
@@ -378,6 +401,22 @@ int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
/*****************************************************************************/
void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,
ec_sdo_request_t *req)
{
if (sc->first_sdo_request) {
ec_sdo_request_t *r = sc->first_sdo_request;
while (r->next) {
r = r->next;
}
r->next = req;
} else {
sc->first_sdo_request = req;
}
}
/*****************************************************************************/
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
uint16_t index, uint8_t subindex, size_t size)
{
@@ -410,23 +449,42 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) {
fprintf(stderr, "Failed to create SDO request: %s\n",
strerror(errno));
if (req->data)
free(req->data);
ec_sdo_request_clear(req);
free(req);
return NULL;
}
req->next = NULL;
req->config = sc;
req->index = data.request_index;
req->sdo_index = data.sdo_index;
req->sdo_subindex = data.sdo_subindex;
req->data_size = size;
req->mem_size = size;
ec_slave_config_add_sdo_request(sc, req);
return req;
}
/*****************************************************************************/
void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,
ec_voe_handler_t *voe)
{
if (sc->first_voe_handler) {
ec_voe_handler_t *v = sc->first_voe_handler;
while (v->next) {
v = v->next;
}
v->next = voe;
} else {
sc->first_voe_handler = voe;
}
}
/*****************************************************************************/
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
size_t size)
{
@@ -458,16 +516,19 @@ ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
fprintf(stderr, "Failed to create VoE handler: %s\n",
strerror(errno));
if (voe->data)
free(voe->data);
ec_voe_handler_clear(voe);
free(voe);
return NULL;
}
voe->next = NULL;
voe->config = sc;
voe->index = data.voe_index;
voe->data_size = size;
voe->mem_size = size;
ec_slave_config_add_voe_handler(sc, voe);
return voe;
}
@@ -489,13 +550,15 @@ void ecrt_slave_config_state(const ec_slave_config_t *sc,
/*****************************************************************************/
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
const uint8_t *data, size_t size)
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
uint16_t idn, ec_al_state_t al_state, const uint8_t *data, size_t size)
{
ec_ioctl_sc_idn_t io;
io.config_index = sc->index;
io.drive_no = drive_no;
io.idn = idn;
io.al_state = al_state;
io.data = data;
io.size = size;
lib/slave_config.h
+7
View File
@@ -33,10 +33,17 @@
/*****************************************************************************/
struct ec_slave_config {
ec_slave_config_t *next;
ec_master_t *master;
unsigned int index;
uint16_t alias;
uint16_t position;
ec_sdo_request_t *first_sdo_request;
ec_voe_handler_t *first_voe_handler;
};
/*****************************************************************************/
void ec_slave_config_clear(ec_slave_config_t *);
/*****************************************************************************/
lib/voe_handler.c
+8
View File
@@ -47,6 +47,14 @@
/*****************************************************************************/
void ec_voe_handler_clear(ec_voe_handler_t *voe)
{
if (voe->data)
free(voe->data);
}
/*****************************************************************************/
void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
uint16_t vendor_type)
{
lib/voe_handler.h
+5
View File
@@ -33,6 +33,7 @@
/*****************************************************************************/
struct ec_voe_handler {
ec_voe_handler_t *next;
ec_slave_config_t *config;
unsigned int index;
size_t data_size;
@@ -41,3 +42,7 @@ struct ec_voe_handler {
};
/*****************************************************************************/
void ec_voe_handler_clear(ec_voe_handler_t *);
/*****************************************************************************/
master/cdev.c
+67 -129
View File
@@ -661,6 +661,19 @@ int ec_cdev_ioctl_master_debug(
/*****************************************************************************/
/** Issue a bus scan.
*/
int ec_cdev_ioctl_master_rescan(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
master->fsm.rescan_required = 1;
return 0;
}
/*****************************************************************************/
/** Set slave state.
*/
int ec_cdev_ioctl_slave_state(
@@ -883,7 +896,11 @@ int ec_cdev_ioctl_slave_sdo_upload(
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
data.data_size = 0;
retval = -EIO;
if (request.req.errno) {
retval = -request.req.errno;
} else {
retval = -EIO;
}
} else {
if (request.req.data_size > data.target_size) {
EC_MASTER_ERR(master, "Buffer too small.\n");
@@ -988,7 +1005,13 @@ int ec_cdev_ioctl_slave_sdo_download(
data.abort_code = request.req.abort_code;
retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
if (request.req.state == EC_INT_REQUEST_SUCCESS) {
retval = 0;
} else if (request.req.errno) {
retval = -request.req.errno;
} else {
retval = -EIO;
}
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
retval = -EFAULT;
@@ -1726,7 +1749,6 @@ int ec_cdev_ioctl_deactivate(
return 0;
}
/*****************************************************************************/
/** Set max. number of databytes in a cycle
@@ -2533,7 +2555,8 @@ int ec_cdev_ioctl_sc_idn(
up(&master->master_sem); // FIXME
ret = ecrt_slave_config_idn(sc, ioctl.idn, data, ioctl.size);
ret = ecrt_slave_config_idn(
sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
kfree(data);
return ret;
}
@@ -3388,86 +3411,40 @@ int ec_cdev_ioctl_slave_soe_read(
)
{
ec_ioctl_slave_soe_read_t ioctl;
ec_master_soe_request_t request;
u8 *data;
int retval;
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
return -EFAULT;
}
ec_soe_request_init(&request.req);
ec_soe_request_set_idn(&request.req, ioctl.idn);
ec_soe_request_read(&request.req);
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(request.slave = ec_master_find_slave(
master, 0, ioctl.slave_position))) {
up(&master->master_sem);
ec_soe_request_clear(&request.req);
EC_MASTER_ERR(master, "Slave %u does not exist!\n",
ioctl.slave_position);
return -EINVAL;
data = kmalloc(ioctl.mem_size, GFP_KERNEL);
if (!data) {
EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
ioctl.mem_size);
return -ENOMEM;
}
// schedule request.
list_add_tail(&request.list, &request.slave->soe_requests);
up(&master->master_sem);
EC_SLAVE_DBG(request.slave, 1, "Scheduled SoE read request.\n");
// wait for processing through FSM
if (wait_event_interruptible(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
ec_soe_request_clear(&request.req);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
retval = ecrt_master_read_idn(master, ioctl.slave_position,
ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size,
&ioctl.error_code);
if (retval) {
kfree(data);
return retval;
}
// wait until master FSM has finished processing
wait_event(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_BUSY);
ioctl.error_code = request.req.error_code;
EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via SoE.\n",
request.req.data_size);
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
ioctl.data_size = 0;
retval = -EIO;
} else {
if (request.req.data_size > ioctl.mem_size) {
EC_MASTER_ERR(master, "Buffer too small.\n");
ec_soe_request_clear(&request.req);
return -EOVERFLOW;
}
ioctl.data_size = request.req.data_size;
if (copy_to_user((void __user *) ioctl.data,
request.req.data, ioctl.data_size)) {
ec_soe_request_clear(&request.req);
return -EFAULT;
}
retval = 0;
if (copy_to_user((void __user *) ioctl.data,
data, ioctl.data_size)) {
kfree(data);
return -EFAULT;
}
kfree(data);
if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
retval = -EFAULT;
}
EC_SLAVE_DBG(request.slave, 1, "Finished SoE read request.\n");
ec_soe_request_clear(&request.req);
EC_MASTER_DBG(master, 1, "Finished SoE read request.\n");
return retval;
}
@@ -3481,79 +3458,37 @@ int ec_cdev_ioctl_slave_soe_write(
)
{
ec_ioctl_slave_soe_write_t ioctl;
ec_master_soe_request_t request;
u8 *data;
int retval;
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
return -EFAULT;
}
INIT_LIST_HEAD(&request.list);
ec_soe_request_init(&request.req);
ec_soe_request_set_idn(&request.req, ioctl.idn);
if (ec_soe_request_alloc(&request.req, ioctl.data_size)) {
ec_soe_request_clear(&request.req);
data = kmalloc(ioctl.data_size, GFP_KERNEL);
if (!data) {
EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
ioctl.data_size);
return -ENOMEM;
}
if (copy_from_user(request.req.data,
(void __user *) ioctl.data, ioctl.data_size)) {
ec_soe_request_clear(&request.req);
if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) {
kfree(data);
return -EFAULT;
}
request.req.data_size = ioctl.data_size;
ec_soe_request_write(&request.req);
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(request.slave = ec_master_find_slave(
master, 0, ioctl.slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave %u does not exist!\n",
ioctl.slave_position);
ec_soe_request_clear(&request.req);
return -EINVAL;
retval = ecrt_master_write_idn(master, ioctl.slave_position,
ioctl.drive_no, ioctl.idn, data, ioctl.data_size,
&ioctl.error_code);
kfree(data);
if (retval) {
return retval;
}
EC_SLAVE_DBG(request.slave, 1, "Scheduling SoE write request.\n");
// schedule SoE write request.
list_add_tail(&request.list, &request.slave->soe_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
// abort request
list_del(&request.list);
up(&master->master_sem);
ec_soe_request_clear(&request.req);
return -EINTR;
}
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_BUSY);
ioctl.error_code = request.req.error_code;
retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
retval = -EFAULT;
}
ec_soe_request_clear(&request.req);
EC_SLAVE_DBG(request.slave, 1, "Finished SoE write request.\n");
EC_MASTER_DBG(master, 1, "Finished SoE write request.\n");
return retval;
}
@@ -3583,7 +3518,7 @@ int eccdev_open(struct inode *inode, struct file *filp)
filp->private_data = priv;
#if DEBUG_IOCTL
EC_MASTER_DBG(cdev->master, "File opened.\n");
EC_MASTER_DBG(cdev->master, 0, "File opened.\n");
#endif
return 0;
}
@@ -3604,7 +3539,7 @@ int eccdev_release(struct inode *inode, struct file *filp)
vfree(priv->process_data);
#if DEBUG_IOCTL
EC_MASTER_DBG(master, "File closed.\n");
EC_MASTER_DBG(master, 0, "File closed.\n");
#endif
kfree(priv);
@@ -3621,9 +3556,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
ec_master_t *master = priv->cdev->master;
#if DEBUG_IOCTL
EC_MASTER_DBG(master, "ioctl(filp = 0x%x, cmd = 0x%08x (0x%02x),"
" arg = 0x%x)\n", (u32) filp, (u32) cmd, (u32) _IOC_NR(cmd),
(u32) arg);
EC_MASTER_DBG(master, 0, "ioctl(filp = 0x%p, cmd = 0x%08x (0x%02x),"
" arg = 0x%lx)\n", filp, cmd, _IOC_NR(cmd), arg);
#endif
switch (cmd) {
@@ -3649,6 +3583,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_master_debug(master, arg);
case EC_IOCTL_MASTER_RESCAN:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_master_rescan(master, arg);
case EC_IOCTL_SLAVE_STATE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
master/device.c
+1 -1
View File
@@ -315,7 +315,7 @@ void ec_device_send(
u32 tx_frame_rate =
(u32) (device->tx_count - device->last_tx_count) * 1000;
u32 tx_byte_rate =
(device->tx_bytes - device->last_tx_bytes) * 1000;
(device->tx_bytes - device->last_tx_bytes);
u64 loss = device->tx_count - device->rx_count;
s32 loss_rate = (s32) (loss - device->last_loss) * 1000;
for (i = 0; i < EC_RATE_COUNT; i++) {
master/fsm_coe.c
+83 -20
View File
@@ -1103,6 +1103,7 @@ void ec_fsm_coe_down_start(
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
request->errno = EPROTONOSUPPORT;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1110,6 +1111,7 @@ void ec_fsm_coe_down_start(
if (slave->configured_rx_mailbox_size <
EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
EC_SLAVE_ERR(slave, "Mailbox too small!\n");
request->errno = EOVERFLOW;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1118,6 +1120,7 @@ void ec_fsm_coe_down_start(
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
EC_COE_DOWN_REQ_HEADER_SIZE);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1159,6 +1162,7 @@ void ec_fsm_coe_down_start(
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1212,6 +1216,7 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
" request datagram: ");
@@ -1225,26 +1230,27 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
if (!datagram->working_counter) {
if (diff_ms < fsm->request->response_timeout) {
#if DEBUG_RETRIES
EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
" SDO download request. Retrying after %u ms...\n",
(u32) diff_ms);
EC_SLAVE_DBG(slave, 1, "Slave did not respond to SDO"
" download request. Retrying after %lu ms...\n",
diff_ms);
#endif
// no response; send request datagram again
return;
}
}
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download request"
" for SDO 0x%04x:%x failed with timeout after %u ms: ",
fsm->request->index, fsm->request->subindex, (u32) diff_ms);
" for SDO 0x%04x:%x failed with timeout after %lu ms: ",
fsm->request->index, fsm->request->subindex, diff_ms);
ec_datagram_print_wc_error(datagram);
return;
}
#if DEBUG_LONG
if (diff_ms > 200) {
EC_SLAVE_WARN(slave, "SDO 0x%04x:%x download took %u ms.\n",
fsm->request->index, fsm->request->subindex, (u32) diff_ms);
EC_SLAVE_WARN(slave, "SDO 0x%04x:%x download took %lu ms.\n",
fsm->request->index, fsm->request->subindex, diff_ms);
}
#endif
@@ -1268,6 +1274,7 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
" datagram: ");
@@ -1276,6 +1283,7 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
" datagram failed: ");
@@ -1287,9 +1295,10 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout after %u ms while waiting"
" for SDO 0x%04x:%x download response.\n", (u32) diff_ms,
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting"
" for SDO 0x%04x:%x download response.\n", diff_ms,
fsm->request->index, fsm->request->subindex);
return;
}
@@ -1343,6 +1352,7 @@ void ec_fsm_coe_down_prepare_segment_request(
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1389,6 +1399,7 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
" response datagram: ");
@@ -1397,6 +1408,7 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1405,11 +1417,13 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
if (mbox_prot != 0x03) { // CoE
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
@@ -1430,6 +1444,7 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (rec_size < 6) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
rec_size);
@@ -1440,6 +1455,7 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
char subidxstr[10];
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
if (request->complete_access) {
subidxstr[0] = 0x00;
@@ -1497,6 +1513,7 @@ void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
@@ -1504,6 +1521,7 @@ void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
" datagram failed: ");
@@ -1515,6 +1533,7 @@ void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout while waiting for SDO download"
" segment response.\n");
@@ -1553,6 +1572,7 @@ void ec_fsm_coe_down_seg_response(
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
" datagram: ");
@@ -1561,6 +1581,7 @@ void ec_fsm_coe_down_seg_response(
}
if (datagram->working_counter != 1) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1569,11 +1590,13 @@ void ec_fsm_coe_down_seg_response(
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
if (mbox_prot != 0x03) { // CoE
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
@@ -1594,6 +1617,7 @@ void ec_fsm_coe_down_seg_response(
}
if (rec_size < 6) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
rec_size);
@@ -1604,6 +1628,7 @@ void ec_fsm_coe_down_seg_response(
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
char subidxstr[10];
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
if (request->complete_access) {
subidxstr[0] = 0x00;
@@ -1640,6 +1665,7 @@ void ec_fsm_coe_down_seg_response(
EC_SLAVE_ERR(slave, "Invalid toggle received during"
" segmented download:\n");
ec_print_data(data, rec_size);
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1671,12 +1697,14 @@ void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
request->errno = EPROTONOSUPPORT;
fsm->state = ec_fsm_coe_error;
return;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1714,6 +1742,7 @@ void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
ec_datagram_print_state(datagram);
@@ -1727,25 +1756,26 @@ void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
if (diff_ms < fsm->request->response_timeout) {
#if DEBUG_RETRIES
EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
" SDO upload request. Retrying after %u ms...\n",
(u32) diff_ms);
" SDO upload request. Retrying after %lu ms...\n",
diff_ms);
#endif
// no response; send request datagram again
return;
}
}
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload request for"
" SDO 0x%04x:%x failed with timeout after %u ms: ",
fsm->request->index, fsm->request->subindex, (u32) diff_ms);
" SDO 0x%04x:%x failed with timeout after %lu ms: ",
fsm->request->index, fsm->request->subindex, diff_ms);
ec_datagram_print_wc_error(datagram);
return;
}
#if DEBUG_LONG
if (diff_ms > 200) {
EC_SLAVE_WARN(slave, "SDO 0x%04x:%x upload took %u ms.\n",
fsm->request->index, fsm->request->subindex, (u32) diff_ms);
EC_SLAVE_WARN(slave, "SDO 0x%04x:%x upload took %lu ms.\n",
fsm->request->index, fsm->request->subindex, diff_ms);
}
#endif
@@ -1771,6 +1801,7 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
@@ -1778,6 +1809,7 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
" datagram failed: ");
@@ -1789,9 +1821,10 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout after %u ms while waiting for"
" SDO 0x%04x:%x upload response.\n", (u32) diff_ms,
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
" SDO 0x%04x:%x upload response.\n", diff_ms,
fsm->request->index, fsm->request->subindex);
return;
}
@@ -1818,6 +1851,7 @@ void ec_fsm_coe_up_prepare_segment_request(
uint8_t *data =
ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
if (IS_ERR(data)) {
fsm->request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1850,11 +1884,13 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
size_t rec_size, data_size;
ec_sdo_request_t *request = fsm->request;
unsigned int expedited, size_specified;
int ret;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
" datagram: ");
@@ -1863,6 +1899,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1871,6 +1908,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1881,6 +1919,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (mbox_prot != 0x03) { // CoE
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"
" as response.\n", mbox_prot);
@@ -1896,6 +1935,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (rec_size < 6) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received currupted SDO upload response"
" (%zu bytes)!\n", rec_size);
@@ -1913,6 +1953,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
} else {
EC_SLAVE_ERR(slave, "No abort message.\n");
}
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1923,6 +1964,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
" uploading SDO 0x%04X:%02X.\n",
request->index, request->subindex);
ec_print_data(data, rec_size);
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1955,6 +1997,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (rec_size < 6 + fsm->complete_size) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received corrupted SDO expedited upload"
" response (only %zu bytes)!\n", rec_size);
@@ -1962,12 +2005,15 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
if (ec_sdo_request_copy_data(request, data + 6, fsm->complete_size)) {
ret = ec_sdo_request_copy_data(request, data + 6, fsm->complete_size);
if (ret) {
request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
} else { // normal
if (rec_size < 10) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received currupted SDO normal upload"
" response (only %zu bytes)!\n", rec_size);
@@ -1979,18 +2025,23 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
fsm->complete_size = EC_READ_U32(data + 6);
if (!fsm->complete_size) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "No complete size supplied!\n");
ec_print_data(data, rec_size);
return;
}
if (ec_sdo_request_alloc(request, fsm->complete_size)) {
ret = ec_sdo_request_alloc(request, fsm->complete_size);
if (ret) {
request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
if (ec_sdo_request_copy_data(request, data + 10, data_size)) {
ret = ec_sdo_request_copy_data(request, data + 10, data_size);
if (ret) {
request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2031,6 +2082,7 @@ void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
" request datagram: ");
@@ -2039,6 +2091,7 @@ void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
" request failed: ");
@@ -2068,6 +2121,7 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
" datagram: ");
@@ -2076,6 +2130,7 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
" failed: ");
@@ -2087,6 +2142,7 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout while waiting for SDO upload"
" segment response.\n");
@@ -2125,6 +2181,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
" response datagram: ");
@@ -2133,6 +2190,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (datagram->working_counter != 1) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
" response failed: ");
@@ -2142,6 +2200,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2154,6 +2213,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (mbox_prot != 0x03) { // CoE
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2170,6 +2230,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_SLAVE_ERR(slave, "Received currupted SDO upload"
" segment response!\n");
ec_print_data(data, rec_size);
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2180,6 +2241,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
request->index, request->subindex);
request->abort_code = EC_READ_U32(data + 6);
ec_canopen_abort_msg(slave, request->abort_code);
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2208,6 +2270,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X failed: Fragment"
" exceeding complete size!\n",
request->index, request->subindex);
request->errno = EOVERFLOW;
fsm->state = ec_fsm_coe_error;
return;
}
master/fsm_master.c
+9 -10
View File
@@ -85,7 +85,7 @@ void ec_fsm_master_init(
fsm->idle = 0;
fsm->link_state = 0;
fsm->slaves_responding = 0;
fsm->topology_change_pending = 0;
fsm->rescan_required = 0;
fsm->slave_states = EC_SLAVE_STATE_UNKNOWN;
// init sub-state-machines
@@ -201,7 +201,7 @@ void ec_fsm_master_state_broadcast(
// bus topology change?
if (datagram->working_counter != fsm->slaves_responding) {
fsm->topology_change_pending = 1;
fsm->rescan_required = 1;
fsm->slaves_responding = datagram->working_counter;
EC_MASTER_INFO(master, "%u slave(s) responding.\n",
fsm->slaves_responding);
@@ -237,7 +237,7 @@ void ec_fsm_master_state_broadcast(
fsm->slave_states = 0x00;
}
if (fsm->topology_change_pending) {
if (fsm->rescan_required) {
down(&master->scan_sem);
if (!master->allow_scan) {
up(&master->scan_sem);
@@ -245,9 +245,8 @@ void ec_fsm_master_state_broadcast(
master->scan_busy = 1;
up(&master->scan_sem);
// topology change when scan is allowed:
// clear all slaves and scan the bus
fsm->topology_change_pending = 0;
fsm->rescan_required = 0;
fsm->idle = 0;
fsm->scan_jiffies = jiffies;
@@ -630,7 +629,7 @@ void ec_fsm_master_state_read_state(
slave->error_flag = 1;
EC_SLAVE_DBG(slave, 1, "Slave did not respond to state query.\n");
}
fsm->topology_change_pending = 1;
fsm->rescan_required = 1;
ec_fsm_master_restart(fsm);
return;
}
@@ -792,8 +791,8 @@ void ec_fsm_master_state_scan_slave(
return;
}
EC_MASTER_INFO(master, "Bus scanning completed in %u ms.\n",
(u32) (jiffies - fsm->scan_jiffies) * 1000 / HZ);
EC_MASTER_INFO(master, "Bus scanning completed in %lu ms.\n",
(jiffies - fsm->scan_jiffies) * 1000 / HZ);
master->scan_busy = 0;
wake_up_interruptible(&master->scan_queue);
@@ -908,9 +907,9 @@ u64 ec_fsm_master_dc_offset32(
EC_SLAVE_DBG(slave, 1, "DC system time offset calculation:"
" system_time=%u (corrected with %u),"
" app_time=%u, diff=%i\n",
" app_time=%llu, diff=%i\n",
system_time32, correction32,
(u32) slave->master->app_time, time_diff);
slave->master->app_time, time_diff);
if (EC_ABS(time_diff) > EC_SYSTEM_TIME_TOLERANCE_NS) {
new_offset = time_diff + old_offset32;
master/fsm_master.h
+1 -1
View File
@@ -119,7 +119,7 @@ struct ec_fsm_master {
unsigned long scan_jiffies; /**< beginning of slave scanning */
uint8_t link_state; /**< Last main device link state. */
unsigned int slaves_responding; /**< number of responding slaves */
unsigned int topology_change_pending; /**< bus topology changed */
unsigned int rescan_required; /**< A bus rescan is required. */
ec_slave_state_t slave_states; /**< states of responding slaves */
ec_slave_t *slave; /**< current slave */
ec_sii_write_request_t *sii_request; /**< SII write request */
master/fsm_pdo.c
+55 -46
View File
@@ -376,7 +376,7 @@ void ec_fsm_pdo_conf_state_start(
return;
}
fsm->sync_index = 0xff; // next is zero
fsm->sync_index = 1; // next is 2
ec_fsm_pdo_conf_action_next_sync(fsm);
}
@@ -429,7 +429,8 @@ void ec_fsm_pdo_conf_action_next_sync(
}
// get first configured PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
if (!(fsm->pdo =
ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
// no pdos configured
ec_fsm_pdo_conf_action_check_assignment(fsm);
return;
@@ -506,17 +507,30 @@ void ec_fsm_pdo_conf_action_check_mapping(
ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
EC_SLAVE_DBG(fsm->slave, 1, "Mapping of PDO 0x%04X"
" is already configured correctly.\n", fsm->pdo->index);
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
// check, if slave supports PDO configuration
if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
&& fsm->slave->sii.has_general
&& fsm->slave->sii.coe_details.enable_pdo_configuration) {
// always write PDO mapping
ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
fsm->pdo, &fsm->slave_pdo);
fsm->state = ec_fsm_pdo_conf_state_mapping;
fsm->state(fsm); // execure immediately
return;
}
else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
EC_SLAVE_WARN(fsm->slave, "Slave does not support"
" changing the PDO mapping!\n");
EC_SLAVE_WARN(fsm->slave, "");
printk("Currently mapped PDO entries: ");
ec_pdo_print_entries(&fsm->slave_pdo);
printk(". Entries to map: ");
ec_pdo_print_entries(fsm->pdo);
printk("\n");
}
ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
fsm->pdo, &fsm->slave_pdo);
fsm->state = ec_fsm_pdo_conf_state_mapping;
fsm->state(fsm); // execure immediately
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
}
/*****************************************************************************/
@@ -564,46 +578,42 @@ void ec_fsm_pdo_conf_action_check_assignment(
ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
// check if assignment has to be re-configured
if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment for SM%u"
" is already configured correctly.\n", fsm->sync_index);
ec_fsm_pdo_conf_action_next_sync(fsm);
if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
&& fsm->slave->sii.has_general
&& fsm->slave->sii.coe_details.enable_pdo_assign) {
// always write PDO assignment
if (fsm->slave->master->debug_level) {
EC_SLAVE_DBG(fsm->slave, 1, "Setting PDO assignment of SM%u:\n",
fsm->sync_index);
EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
}
if (ec_sdo_request_alloc(&fsm->request, 2)) {
fsm->state = ec_fsm_pdo_state_error;
return;
}
// set mapped PDO count to zero
EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned"
" PDOs to zero.\n");
fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
if (fsm->slave->master->debug_level) {
EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment of SM%u differs:\n",
fsm->sync_index);
EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
}
// PDO assignment has to be changed. Does the slave support this?
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_assign)) {
else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
if (ec_sdo_request_alloc(&fsm->request, 2)) {
fsm->state = ec_fsm_pdo_state_error;
return;
}
// set mapped PDO count to zero
EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned PDOs to zero.\n");
fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
ec_fsm_pdo_conf_action_next_sync(fsm);
}
/*****************************************************************************/
@@ -621,7 +631,7 @@ void ec_fsm_pdo_conf_state_zero_pdo_count(
EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
fsm->sync_index);
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
@@ -632,7 +642,6 @@ void ec_fsm_pdo_conf_state_zero_pdo_count(
// find first PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
EC_SLAVE_DBG(fsm->slave, 1, "No PDOs to assign.\n");
// check for mapping to be altered
ec_fsm_pdo_conf_action_next_sync(fsm);
master/fsm_pdo_entry.c
-11
View File
@@ -328,17 +328,6 @@ void ec_fsm_pdo_entry_conf_state_start(
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
// PDO mapping has to be changed. Does the slave support this?
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
EC_SLAVE_WARN(fsm->slave, "Slave does not support"
" changing the PDO mapping!\n");
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
if (ec_sdo_request_alloc(&fsm->request, 4)) {
fsm->state = ec_fsm_pdo_entry_state_error;
return;
master/fsm_sii.c
+4 -2
View File
@@ -184,7 +184,8 @@ void ec_fsm_sii_state_start_reading(
EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
#ifdef SII_DEBUG
EC_SLAVE_DBG(slave, 0, "reading SII data:\n");
EC_SLAVE_DBG(fsm->slave, 0, "reading SII data, word %u:\n",
fsm->word_offset);
ec_print_data(datagram->data, 4);
#endif
@@ -277,7 +278,8 @@ void ec_fsm_sii_state_read_fetch(
#endif
if (EC_READ_U8(datagram->data + 1) & 0x20) {
EC_SLAVE_ERR(fsm->slave, "SII: Error on last SII command!\n");
EC_SLAVE_ERR(fsm->slave, "Error on last command while"
" reading from SII word 0x%04x.\n", fsm->word_offset);
fsm->state = ec_fsm_sii_state_error;
return;
}
master/fsm_slave.c
+1 -1
View File
@@ -311,7 +311,7 @@ void ec_fsm_slave_state_foe_request(
}
// finished transferring FoE
EC_SLAVE_DBG(slave, 1, "Successfully transferred %u bytes of FoE"
EC_SLAVE_DBG(slave, 1, "Successfully transferred %zu bytes of FoE"
" data.\n", request->data_size);
request->state = EC_INT_REQUEST_SUCCESS;
master/fsm_slave_config.c
+138 -35
View File
@@ -69,7 +69,7 @@ void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
@@ -80,6 +80,7 @@ void ec_fsm_slave_config_state_dc_sync_check(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
@@ -88,7 +89,7 @@ void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_soe_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
@@ -96,6 +97,8 @@ void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_soe_conf_safeop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_op(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
@@ -658,7 +661,7 @@ void ec_fsm_slave_config_enter_sdo_conf(
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
ec_fsm_slave_config_enter_soe_conf(fsm);
ec_fsm_slave_config_enter_soe_conf_preop(fsm);
return;
}
@@ -706,47 +709,50 @@ void ec_fsm_slave_config_state_sdo_conf(
}
// All SDOs are now configured.
ec_fsm_slave_config_enter_soe_conf(fsm);
ec_fsm_slave_config_enter_soe_conf_preop(fsm);
}
/*****************************************************************************/
/** Check for SoE configurations to be applied.
*/
void ec_fsm_slave_config_enter_soe_conf(
void ec_fsm_slave_config_enter_soe_conf_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
ec_soe_request_t *req;
if (!slave->config) {
ec_fsm_slave_config_enter_pdo_sync(fsm);
return;
}
// No SoE configuration to be applied?
if (list_empty(&slave->config->soe_configs)) { // skip configuration
ec_fsm_slave_config_enter_pdo_conf(fsm);
return;
list_for_each_entry(req, &slave->config->soe_configs, list) {
if (req->al_state == EC_AL_STATE_PREOP) {
// start SoE configuration
fsm->state = ec_fsm_slave_config_state_soe_conf_preop;
fsm->soe_request = req;
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
return;
}
}
// start SoE configuration
fsm->state = ec_fsm_slave_config_state_soe_conf;
fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
ec_soe_request_t, list);
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
// No SoE configuration to be applied in PREOP
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
/*****************************************************************************/
/** Slave configuration state: SOE_CONF.
*/
void ec_fsm_slave_config_state_soe_conf(
void ec_fsm_slave_config_state_soe_conf_preop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
@@ -770,19 +776,22 @@ void ec_fsm_slave_config_state_soe_conf(
return;
}
// Another IDN to configure?
if (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
// Another IDN to configure in PREOP?
while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
fsm->soe_request = list_entry(fsm->soe_request->list.next,
ec_soe_request_t, list);
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
return;
if (fsm->soe_request->al_state == EC_AL_STATE_PREOP) {
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
return;
}
}
// All SDOs are now configured.
// All PREOP IDNs are now configured.
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
@@ -1242,11 +1251,11 @@ void ec_fsm_slave_config_state_dc_sync_check(
if (0 && abs_sync_diff > EC_DC_MAX_SYNC_DIFF_NS) {
if (diff_ms >= EC_DC_SYNC_WAIT_MS) {
EC_SLAVE_WARN(slave, "Slave did not sync after %u ms.\n",
(u32) diff_ms);
EC_SLAVE_WARN(slave, "Slave did not sync after %lu ms.\n",
diff_ms);
} else {
EC_SLAVE_DBG(slave, 1, "Sync after %4u ms: %10u ns\n",
(u32) diff_ms, abs_sync_diff);
EC_SLAVE_DBG(slave, 1, "Sync after %4lu ms: %10u ns\n",
diff_ms, abs_sync_diff);
// check synchrony again
ec_datagram_fprd(datagram, slave->station_address, 0x092c, 4);
@@ -1254,8 +1263,8 @@ void ec_fsm_slave_config_state_dc_sync_check(
return;
}
} else {
EC_SLAVE_DBG(slave, 1, "%u ns difference after %u ms.\n",
abs_sync_diff, (u32) diff_ms);
EC_SLAVE_DBG(slave, 1, "%u ns difference after %lu ms.\n",
abs_sync_diff, diff_ms);
}
// set DC start time
@@ -1416,9 +1425,103 @@ void ec_fsm_slave_config_state_safeop(
return;
}
ec_fsm_slave_config_enter_soe_conf_safeop(fsm);
}
/*****************************************************************************/
/** Check for SoE configurations to be applied in SAFEOP.
*/
void ec_fsm_slave_config_enter_soe_conf_safeop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
ec_soe_request_t *req;
if (!slave->config) {
ec_fsm_slave_config_enter_op(fsm);
return;
}
list_for_each_entry(req, &slave->config->soe_configs, list) {
if (req->al_state == EC_AL_STATE_SAFEOP) {
// start SoE configuration
fsm->state = ec_fsm_slave_config_state_soe_conf_safeop;
fsm->soe_request = req;
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
return;
}
}
// No SoE configuration to be applied in SAFEOP
ec_fsm_slave_config_enter_op(fsm);
}
/*****************************************************************************/
/** Slave configuration state: SOE_CONF.
*/
void ec_fsm_slave_config_state_soe_conf_safeop(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
if (ec_fsm_soe_exec(fsm_soe)) {
ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
return;
}
if (!ec_fsm_soe_success(fsm_soe)) {
EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
return;
}
if (!fsm->slave->config) { // config removed in the meantime
ec_fsm_slave_config_reconfigure(fsm);
return;
}
// Another IDN to configure in SAFEOP?
while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
fsm->soe_request = list_entry(fsm->soe_request->list.next,
ec_soe_request_t, list);
if (fsm->soe_request->al_state == EC_AL_STATE_SAFEOP) {
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
ec_master_queue_external_datagram(slave->master,
fsm_soe->datagram);
return;
}
}
// All SAFEOP IDNs are now configured.
ec_fsm_slave_config_enter_op(fsm);
}
/*****************************************************************************/
/** Bring slave to OP.
*/
void ec_fsm_slave_config_enter_op(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// set state to OP
fsm->state = ec_fsm_slave_config_state_op;
ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_OP);
ec_fsm_change_exec(fsm->fsm_change); // execute immediately
}
master/fsm_slave_scan.c
+27 -10
View File
@@ -52,7 +52,9 @@ void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
#ifdef EC_REGALIAS
void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *);
#endif
void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *);
@@ -61,7 +63,9 @@ void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
#ifdef EC_REGALIAS
void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
#endif
void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
@@ -494,13 +498,17 @@ void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *fsm /**< slave state
ec_slave_t *slave = fsm->slave;
uint16_t cat_type, cat_size;
if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
if (ec_fsm_sii_exec(&fsm->fsm_sii))
return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
EC_SLAVE_ERR(slave, "Failed to read SII size.\n");
return;
EC_SLAVE_ERR(slave, "Failed to determine SII content size:"
" Reading word offset 0x%04x failed. Assuming %u words.\n",
fsm->sii_offset, EC_FIRST_SII_CATEGORY_OFFSET);
slave->sii_nwords = EC_FIRST_SII_CATEGORY_OFFSET;
goto alloc_sii;
}
cat_type = EC_READ_U16(fsm->fsm_sii.value);
@@ -694,7 +702,15 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
}
}
#ifdef EC_REGALIAS
ec_fsm_slave_scan_enter_regalias(fsm);
#else
if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
ec_fsm_slave_scan_enter_preop(fsm);
} else {
fsm->state = ec_fsm_slave_scan_state_end;
}
#endif
return;
end:
@@ -703,13 +719,12 @@ end:
fsm->state = ec_fsm_slave_scan_state_error;
}
/*****************************************************************************/
/**
Slave scan entry function: REGALIAS.
*/
#ifdef EC_REGALIAS
/** Slave scan entry function: REGALIAS.
*/
void ec_fsm_slave_scan_enter_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
@@ -727,9 +742,8 @@ void ec_fsm_slave_scan_enter_regalias(
/*****************************************************************************/
/**
Slave scan state: REGALIAS.
*/
/** Slave scan state: REGALIAS.
*/
void ec_fsm_slave_scan_state_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
@@ -754,6 +768,7 @@ void ec_fsm_slave_scan_state_regalias(
EC_SLAVE_DBG(slave, 1, "Read alias %u from register.\n",
slave->effective_alias);
}
if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
ec_fsm_slave_scan_enter_preop(fsm);
} else {
@@ -761,6 +776,8 @@ void ec_fsm_slave_scan_state_regalias(
}
}
#endif // defined EC_REGALIAS
/*****************************************************************************/
/** Enter slave scan state PREOP.
master/fsm_soe.c
+13 -11
View File
@@ -201,7 +201,8 @@ void ec_fsm_soe_read_start(ec_fsm_soe_t *fsm /**< finite state machine */)
ec_soe_request_t *request = fsm->request;
uint8_t *data;
EC_SLAVE_DBG(slave, 1, "Reading IDN 0x%04X.\n", request->idn);
EC_SLAVE_DBG(slave, 1, "Reading IDN 0x%04X of drive %u.\n", request->idn,
request->drive_no);
if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
EC_SLAVE_ERR(slave, "Slave does not support SoE!\n");
@@ -218,7 +219,7 @@ void ec_fsm_soe_read_start(ec_fsm_soe_t *fsm /**< finite state machine */)
return;
}
EC_WRITE_U8(data, OPCODE_READ_REQUEST);
EC_WRITE_U8(data, OPCODE_READ_REQUEST | (request->drive_no & 0x07) << 5);
EC_WRITE_U8(data + 1, 1 << 6); // request value
EC_WRITE_U16(data + 2, request->idn);
@@ -265,7 +266,7 @@ void ec_fsm_soe_read_request(ec_fsm_soe_t *fsm /**< finite state machine */)
}
fsm->state = ec_fsm_soe_error;
EC_SLAVE_ERR(slave, "Reception of SoE read request"
" failed after %u ms: ", (u32) diff_ms);
" failed after %lu ms: ", diff_ms);
ec_datagram_print_wc_error(datagram);
ec_fsm_soe_print_error(fsm);
return;
@@ -311,8 +312,8 @@ void ec_fsm_soe_read_check(ec_fsm_soe_t *fsm /**< finite state machine */)
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_SOE_RESPONSE_TIMEOUT) {
fsm->state = ec_fsm_soe_error;
EC_SLAVE_ERR(slave, "Timeout after %u ms while waiting for"
" read response.\n", (u32) diff_ms);
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
" read response.\n", diff_ms);
ec_fsm_soe_print_error(fsm);
return;
}
@@ -492,7 +493,8 @@ void ec_fsm_soe_write_next_fragment(
return;
}
EC_WRITE_U8(data, OPCODE_WRITE_REQUEST | incomplete << 3);
EC_WRITE_U8(data, OPCODE_WRITE_REQUEST | incomplete << 3 |
(req->drive_no & 0x07) << 5);
EC_WRITE_U8(data + 1, 1 << 6); // only value included
EC_WRITE_U16(data + 2, incomplete ? fragments_left : req->idn);
memcpy(data + 4, req->data + fsm->offset, fragment_size);
@@ -517,8 +519,8 @@ void ec_fsm_soe_write_start(ec_fsm_soe_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
ec_soe_request_t *req = fsm->request;
EC_SLAVE_DBG(slave, 1, "Writing IDN 0x%04X (%zu byte).\n",
req->idn, req->data_size);
EC_SLAVE_DBG(slave, 1, "Writing IDN 0x%04X of drive %u (%zu byte).\n",
req->idn, req->drive_no, req->data_size);
if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
EC_SLAVE_ERR(slave, "Slave does not support SoE!\n");
@@ -563,7 +565,7 @@ void ec_fsm_soe_write_request(ec_fsm_soe_t *fsm /**< finite state machine */)
}
fsm->state = ec_fsm_soe_error;
EC_SLAVE_ERR(slave, "Reception of SoE write request"
" failed after %u ms: ", (u32) diff_ms);
" failed after %lu ms: ", diff_ms);
ec_datagram_print_wc_error(datagram);
ec_fsm_soe_print_error(fsm);
return;
@@ -613,8 +615,8 @@ void ec_fsm_soe_write_check(ec_fsm_soe_t *fsm /**< finite state machine */)
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_SOE_RESPONSE_TIMEOUT) {
fsm->state = ec_fsm_soe_error;
EC_SLAVE_ERR(slave, "Timeout after %u ms while waiting"
" for write response.\n", (u32) diff_ms);
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting"
" for write response.\n", diff_ms);
ec_fsm_soe_print_error(fsm);
return;
}
master/ioctl.h
+67 -62
View File
@@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 6
#define EC_IOCTL_VERSION_MAGIC 8
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -69,71 +69,72 @@
#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
#define EC_IOCTL_DOMAIN_DATA EC_IOWR(0x08, ec_ioctl_domain_data_t)
#define EC_IOCTL_MASTER_DEBUG EC_IO(0x09)
#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t)
#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0b, ec_ioctl_slave_sdo_t)
#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_slave_sdo_entry_t)
#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_slave_sdo_upload_t)
#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_download_t)
#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x0f, ec_ioctl_slave_sii_t)
#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x10, ec_ioctl_slave_sii_t)
#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x11, ec_ioctl_slave_reg_t)
#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x12, ec_ioctl_slave_reg_t)
#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x13, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x14, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x15, ec_ioctl_slave_soe_read_t)
#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x16, ec_ioctl_slave_soe_write_t)
#define EC_IOCTL_CONFIG EC_IOWR(0x17, ec_ioctl_config_t)
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x18, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x19, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1a, ec_ioctl_config_sdo_t)
#define EC_IOCTL_MASTER_RESCAN EC_IO(0x0a)
#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0b, ec_ioctl_slave_state_t)
#define EC_IOCTL_SLAVE_SDO EC_IOWR(0x0c, ec_ioctl_slave_sdo_t)
#define EC_IOCTL_SLAVE_SDO_ENTRY EC_IOWR(0x0d, ec_ioctl_slave_sdo_entry_t)
#define EC_IOCTL_SLAVE_SDO_UPLOAD EC_IOWR(0x0e, ec_ioctl_slave_sdo_upload_t)
#define EC_IOCTL_SLAVE_SDO_DOWNLOAD EC_IOWR(0x0f, ec_ioctl_slave_sdo_download_t)
#define EC_IOCTL_SLAVE_SII_READ EC_IOWR(0x10, ec_ioctl_slave_sii_t)
#define EC_IOCTL_SLAVE_SII_WRITE EC_IOW(0x11, ec_ioctl_slave_sii_t)
#define EC_IOCTL_SLAVE_REG_READ EC_IOWR(0x12, ec_ioctl_slave_reg_t)
#define EC_IOCTL_SLAVE_REG_WRITE EC_IOW(0x13, ec_ioctl_slave_reg_t)
#define EC_IOCTL_SLAVE_FOE_READ EC_IOWR(0x14, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_FOE_WRITE EC_IOW(0x15, ec_ioctl_slave_foe_t)
#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
#define EC_IOCTL_CONFIG EC_IOWR(0x18, ec_ioctl_config_t)
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x19, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
#ifdef EC_EOE
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1b, ec_ioctl_eoe_handler_t)
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1c, ec_ioctl_eoe_handler_t)
#endif
// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x1c)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1d)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1e, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x1f, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x20)
#define EC_IOCTL_SEND EC_IO(0x21)
#define EC_IOCTL_RECEIVE EC_IO(0x22)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x23, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x24, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x25)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x26)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x27)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x28, uint32_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x29, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2a, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2b, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2c, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2d, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2e, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2f, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x20, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x31, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x32, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x33, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x34, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x35, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x36)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x37)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x38)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x39, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x46, size_t)
#define EC_IOCTL_REQUEST EC_IO(0x1d)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1e)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1f, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x20, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x21)
#define EC_IOCTL_SEND EC_IO(0x22)
#define EC_IOCTL_RECEIVE EC_IO(0x23)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x24, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x25, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x26)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x27)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x28)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x29, uint32_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x2a, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2b, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2c, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2d, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2e, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2f, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x31, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x32, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x33, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x34, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x35, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x36, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x37)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x38)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x39)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3a, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x46, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x47, size_t)
#define EC_IOCTL_MASTER_SC_STATE EC_IOR(0x47, ec_master_state_t)
#define EC_IOCTL_SC_OVERLAPPING_IO EC_IOW(0x48, ec_ioctl_config_t)
@@ -417,6 +418,7 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
uint8_t drive_no;
uint16_t idn;
uint32_t mem_size;
uint8_t *data;
@@ -431,6 +433,7 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
uint8_t drive_no;
uint16_t idn;
uint32_t data_size;
uint8_t *data;
@@ -587,7 +590,9 @@ typedef struct {
typedef struct {
// inputs
uint32_t config_index;
uint8_t drive_no;
uint16_t idn;
ec_al_state_t al_state;
const uint8_t *data;
size_t size;
} ec_ioctl_sc_idn_t;
master/master.c
+187 -16
View File
@@ -443,6 +443,20 @@ void ec_master_clear_domains(ec_master_t *master)
/*****************************************************************************/
/** Clear the configuration applied by the application.
*/
void ec_master_clear_config(
ec_master_t *master /**< EtherCAT master. */
)
{
down(&master->master_sem);
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
up(&master->master_sem);
}
/*****************************************************************************/
/** Internal sending callback.
*/
void ec_master_internal_send_cb(
@@ -657,15 +671,17 @@ void ec_master_leave_operation_phase(
ec_master_t *master /**< EtherCAT master */
)
{
if (master->active)
ecrt_master_deactivate(master);
if (master->active) {
ecrt_master_deactivate(master); // also clears config
} else {
ec_master_clear_config(master);
}
EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n");
master->phase = EC_IDLE;
}
/*****************************************************************************/
/** Injects external datagrams that fit into the datagram queue.
@@ -702,7 +718,7 @@ void ec_master_inject_external_datagrams(
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_ERROR;
EC_MASTER_ERR(master, "External datagram %p is too large,"
" size=%u, max_queue_size=%u\n",
" size=%zu, max_queue_size=%zu\n",
datagram, datagram->data_size,
master->max_queue_size);
} else {
@@ -729,8 +745,8 @@ void ec_master_inject_external_datagrams(
((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
#endif
EC_MASTER_ERR(master, "Timeout %u us: Injecting"
" external datagram %p size=%u,"
" max_queue_size=%u\n", time_us, datagram,
" external datagram %p size=%zu,"
" max_queue_size=%zu\n", time_us, datagram,
datagram->data_size, master->max_queue_size);
}
#if DEBUG_INJECT
@@ -753,7 +769,7 @@ void ec_master_inject_external_datagrams(
*/
void ec_master_set_send_interval(
ec_master_t *master, /**< EtherCAT master */
size_t send_interval /**< Send interval */
unsigned int send_interval /**< Send interval */
)
{
master->send_interval = send_interval;
@@ -1245,8 +1261,8 @@ static int ec_master_idle_thread(void *priv_data)
// send interval in IDLE phase
ec_master_set_send_interval(master, 1000000 / HZ);
EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %d us,"
" max data size=%d\n", master->send_interval,
EC_MASTER_DBG(master, 1, "Idle thread running with send interval = %u us,"
" max data size=%zu\n", master->send_interval,
master->max_queue_size);
while (!kthread_should_stop()) {
@@ -1312,7 +1328,7 @@ static int ec_master_operation_thread(void *priv_data)
int fsm_exec;
EC_MASTER_DBG(master, 1, "Operation thread running"
" with fsm interval = %d us, max data size=%d\n",
" with fsm interval = %u us, max data size=%zu\n",
master->send_interval, master->max_queue_size);
while (!kthread_should_stop()) {
@@ -2036,8 +2052,7 @@ void ecrt_master_deactivate(ec_master_t *master)
int eoe_was_running;
#endif
EC_MASTER_DBG(master, 1, "ecrt_master_deactivate(master = 0x%x)\n",
(u32) master);
EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
if (!master->active) {
EC_MASTER_WARN(master, "%s: Master not active.\n", __func__);
@@ -2054,10 +2069,7 @@ void ecrt_master_deactivate(ec_master_t *master)
master->receive_cb = ec_master_internal_receive_cb;
master->cb_data = master;
down(&master->master_sem);
ec_master_clear_domains(master);
ec_master_clear_slave_configs(master);
up(&master->master_sem);
ec_master_clear_config(master);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
@@ -2403,6 +2415,163 @@ uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
/*****************************************************************************/
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
uint16_t *error_code)
{
ec_master_soe_request_t request;
int retval;
if (drive_no > 7) {
EC_MASTER_ERR(master, "Invalid drive number!\n");
return -EINVAL;
}
INIT_LIST_HEAD(&request.list);
ec_soe_request_init(&request.req);
ec_soe_request_set_drive_no(&request.req, drive_no);
ec_soe_request_set_idn(&request.req, idn);
if (ec_soe_request_alloc(&request.req, data_size)) {
ec_soe_request_clear(&request.req);
return -ENOMEM;
}
memcpy(request.req.data, data, data_size);
request.req.data_size = data_size;
ec_soe_request_write(&request.req);
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(request.slave = ec_master_find_slave(
master, 0, slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave %u does not exist!\n",
slave_position);
ec_soe_request_clear(&request.req);
return -EINVAL;
}
EC_SLAVE_DBG(request.slave, 1, "Scheduling SoE write request.\n");
// schedule SoE write request.
list_add_tail(&request.list, &request.slave->soe_requests);
up(&master->master_sem);
// wait for processing through FSM
if (wait_event_interruptible(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
// abort request
list_del(&request.list);
up(&master->master_sem);
ec_soe_request_clear(&request.req);
return -EINTR;
}
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_BUSY);
if (error_code) {
*error_code = request.req.error_code;
}
retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
ec_soe_request_clear(&request.req);
return retval;
}
/*****************************************************************************/
int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
size_t *result_size, uint16_t *error_code)
{
ec_master_soe_request_t request;
if (drive_no > 7) {
EC_MASTER_ERR(master, "Invalid drive number!\n");
return -EINVAL;
}
INIT_LIST_HEAD(&request.list);
ec_soe_request_init(&request.req);
ec_soe_request_set_drive_no(&request.req, drive_no);
ec_soe_request_set_idn(&request.req, idn);
ec_soe_request_read(&request.req);
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {
up(&master->master_sem);
ec_soe_request_clear(&request.req);
EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
return -EINVAL;
}
// schedule request.
list_add_tail(&request.list, &request.slave->soe_requests);
up(&master->master_sem);
EC_SLAVE_DBG(request.slave, 1, "Scheduled SoE read request.\n");
// wait for processing through FSM
if (wait_event_interruptible(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_QUEUED)) {
// interrupted by signal
down(&master->master_sem);
if (request.req.state == EC_INT_REQUEST_QUEUED) {
list_del(&request.list);
up(&master->master_sem);
ec_soe_request_clear(&request.req);
return -EINTR;
}
// request already processing: interrupt not possible.
up(&master->master_sem);
}
// wait until master FSM has finished processing
wait_event(request.slave->soe_queue,
request.req.state != EC_INT_REQUEST_BUSY);
if (error_code) {
*error_code = request.req.error_code;
}
EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via SoE.\n",
request.req.data_size);
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
if (result_size) {
*result_size = 0;
}
ec_soe_request_clear(&request.req);
return -EIO;
} else {
if (request.req.data_size > target_size) {
EC_MASTER_ERR(master, "Buffer too small.\n");
ec_soe_request_clear(&request.req);
return -EOVERFLOW;
}
if (result_size) {
*result_size = request.req.data_size;
}
memcpy(target, request.req.data, request.req.data_size);
return 0;
}
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
@@ -2421,6 +2590,8 @@ EXPORT_SYMBOL(ecrt_master_sync_reference_clock);
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
EXPORT_SYMBOL(ecrt_master_write_idn);
EXPORT_SYMBOL(ecrt_master_read_idn);
/** \endcond */
master/master.h
+4 -5
View File
@@ -170,11 +170,12 @@ struct ec_master {
unsigned int injection_seq_rt; /**< Datagram injection sequence number
for the realtime side. */
ec_slave_t *slaves; /**< Array of slaves on the bus. */
unsigned int slave_count; /**< Number of slaves on the bus. */
/* Configuration applied by the application. */
struct list_head configs; /**< List of slave configurations. */
struct list_head domains; /**< List of domains. */
u64 app_time; /**< Time of the last ecrt_master_sync() call. */
u64 app_start_time; /**< Application start time. */
@@ -215,9 +216,8 @@ struct ec_master {
ext_datagram_queue. */
struct list_head external_datagram_queue; /**< External Datagram queue. */
size_t send_interval; /**< Interval between calls to ecrt_master_send */
unsigned int send_interval; /**< Interval between calls to ecrt_master_send */
size_t max_queue_size; /**< Maximum size of datagram queue */
struct list_head domains; /**< List of domains. */
unsigned int debug_level; /**< Master debug level. */
ec_stats_t stats; /**< Cyclic statistics. */
@@ -246,7 +246,6 @@ struct ec_master {
struct list_head reg_requests; /**< Register requests. */
wait_queue_head_t reg_queue; /**< Wait queue for register requests. */
};
/*****************************************************************************/
@@ -279,7 +278,7 @@ void ec_master_queue_external_datagram(ec_master_t *, ec_datagram_t *);
void ec_master_inject_external_datagrams(ec_master_t *);
// misc.
void ec_master_set_send_interval(ec_master_t *,size_t);
void ec_master_set_send_interval(ec_master_t *, unsigned int);
void ec_master_attach_slave_configs(ec_master_t *);
ec_slave_t *ec_master_find_slave(ec_master_t *, uint16_t, uint16_t);
const ec_slave_t *ec_master_find_slave_const(const ec_master_t *, uint16_t,
master/module.c
+4 -3
View File
@@ -341,13 +341,14 @@ void ec_print_data(const uint8_t *data, /**< pointer to data */
EC_DBG("");
for (i = 0; i < size; i++) {
printk("%02X ", data[i]);
if ((i + 1) % 16 == 0 && i < size - 1) {
printk("\n");
EC_DBG("");
}
if (i+1 == 128 && size > 256)
{
printk("dropped %d bytes\n",size-128-i);
if (i + 1 == 128 && size > 256) {
printk("dropped %zu bytes\n", size - 128 - i);
i = size - 128;
EC_DBG("");
}
master/sdo_request.c
+3
View File
@@ -64,6 +64,7 @@ void ec_sdo_request_init(
req->issue_timeout = 0; // no timeout
req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;
req->state = EC_INT_REQUEST_INIT;
req->errno = 0;
req->abort_code = 0x00000000;
}
@@ -226,6 +227,7 @@ void ecrt_sdo_request_read(ec_sdo_request_t *req)
{
req->dir = EC_DIR_INPUT;
req->state = EC_INT_REQUEST_QUEUED;
req->errno = 0;
req->abort_code = 0x00000000;
req->jiffies_start = jiffies;
}
@@ -236,6 +238,7 @@ void ecrt_sdo_request_write(ec_sdo_request_t *req)
{
req->dir = EC_DIR_OUTPUT;
req->state = EC_INT_REQUEST_QUEUED;
req->errno = 0;
req->abort_code = 0x00000000;
req->jiffies_start = jiffies;
}
master/sdo_request.h
+1
View File
@@ -64,6 +64,7 @@ struct ec_sdo_request {
unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
unsigned long jiffies_sent; /**< Jiffies, when the upload/download
request was sent. */
int errno; /**< Error number. */
uint32_t abort_code; /**< SDO request abort code. Zero on success. */
};
master/slave_config.c
+27 -6
View File
@@ -445,7 +445,7 @@ int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
}
if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {
EC_CONFIG_ERR(sc, "Invalid direction %u!\n", (u32) dir);
EC_CONFIG_ERR(sc, "Invalid direction %u!\n", (unsigned int) dir);
return -EINVAL;
}
@@ -716,6 +716,12 @@ void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
{
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X,"
" sync0_cycle = %u, sync0_shift = %u,"
" sync1_cycle = %u, sync1_shift = %u\n",
__func__, sc, assign_activate, sync0_cycle_time, sync0_shift_time,
sync1_cycle_time, sync1_shift_time);
sc->dc_assign_activate = assign_activate;
sc->dc_sync[0].cycle_time = sync0_cycle_time;
sc->dc_sync[0].shift_time = sync0_shift_time;
@@ -772,7 +778,7 @@ int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, index = 0x%04X, "
"subindex = 0x%02X, value = %u)\n",
__func__, sc, index, subindex, (u32) value);
__func__, sc, index, subindex, (unsigned int) value);
EC_WRITE_U8(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
@@ -961,15 +967,28 @@ void ecrt_slave_config_state(const ec_slave_config_t *sc,
/*****************************************************************************/
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
const uint8_t *data, size_t size)
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
uint16_t idn, ec_al_state_t state, const uint8_t *data,
size_t size)
{
ec_slave_t *slave = sc->slave;
ec_soe_request_t *req;
int ret;
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, idn = 0x%04X, "
"data = 0x%p, size = %zu)\n", __func__, sc, idn, data, size);
EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, drive_no = %u, idn = 0x%04X, "
"state = %u, data = 0x%p, size = %zu)\n",
__func__, sc, drive_no, idn, state, data, size);
if (drive_no > 7) {
EC_CONFIG_ERR(sc, "Invalid drive number!\n");
return -EINVAL;
}
if (state != EC_AL_STATE_PREOP && state != EC_AL_STATE_SAFEOP) {
EC_CONFIG_ERR(sc, "AL state for IDN config"
" must be PREOP or SAFEOP!\n");
return -EINVAL;
}
if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
EC_CONFIG_WARN(sc, "Attached slave does not support SoE!\n");
@@ -983,7 +1002,9 @@ int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
}
ec_soe_request_init(req);
ec_soe_request_set_drive_no(req, drive_no);
ec_soe_request_set_idn(req, idn);
req->al_state = state;
ret = ec_soe_request_copy_data(req, data, size);
if (ret < 0) {
master/soe_request.c
+17
View File
@@ -56,6 +56,9 @@ void ec_soe_request_init(
ec_soe_request_t *req /**< SoE request. */
)
{
req->drive_no = 0x00;
req->idn = 0x0000;
req->al_state = EC_AL_STATE_INIT;
req->data = NULL;
req->mem_size = 0;
req->data_size = 0;
@@ -85,12 +88,26 @@ int ec_soe_request_copy(
const ec_soe_request_t *other /**< Other SoE request to copy from. */
)
{
req->drive_no = other->drive_no;
req->idn = other->idn;
req->al_state = other->al_state;
return ec_soe_request_copy_data(req, other->data, other->data_size);
}
/*****************************************************************************/
/** Set drive number.
*/
void ec_soe_request_set_drive_no(
ec_soe_request_t *req, /**< SoE request. */
uint8_t drive_no /** Drive Number. */
)
{
req->drive_no = drive_no;
}
/*****************************************************************************/
/** Set IDN.
*/
void ec_soe_request_set_idn(
master/soe_request.h
+3
View File
@@ -47,7 +47,9 @@
*/
typedef struct {
struct list_head list; /**< List item. */
uint8_t drive_no; /**< Drive number. */
uint16_t idn; /**< Sercos ID-Number. */
ec_al_state_t al_state; /**< AL state (only valid for IDN config). */
uint8_t *data; /**< Pointer to SDO data. */
size_t mem_size; /**< Size of SDO data memory. */
size_t data_size; /**< Size of SDO data. */
@@ -65,6 +67,7 @@ void ec_soe_request_init(ec_soe_request_t *);
void ec_soe_request_clear(ec_soe_request_t *);
int ec_soe_request_copy(ec_soe_request_t *, const ec_soe_request_t *);
void ec_soe_request_set_drive_no(ec_soe_request_t *, uint8_t);
void ec_soe_request_set_idn(ec_soe_request_t *, uint16_t);
int ec_soe_request_alloc(ec_soe_request_t *, size_t);
int ec_soe_request_copy_data(ec_soe_request_t *, const uint8_t *, size_t);
master/voe_handler.c
+2 -2
View File
@@ -267,8 +267,8 @@ void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)
(jiffies - voe->jiffies_start) * 1000 / HZ;
if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {
EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
" VoE write request. Retrying after %u ms...\n",
(u32) diff_ms);
" VoE write request. Retrying after %lu ms...\n",
diff_ms);
// no response; send request datagram again
return;
}
tool/CommandCStruct.cpp
+4 -3
View File
@@ -117,7 +117,7 @@ void CommandCStruct::generateSlaveCStruct(
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, i);
syncs << " {" << dec << sync.sync_index
syncs << " {" << dec << sync.sync_index
<< ", " << (EC_READ_BIT(&sync.control_register, 2) ?
"EC_DIR_OUTPUT" : "EC_DIR_INPUT")
<< ", " << dec << (unsigned int) sync.pdo_count
@@ -136,7 +136,7 @@ void CommandCStruct::generateSlaveCStruct(
for (j = 0; j < sync.pdo_count; j++) {
m.getPdo(&pdo, slave.position, i, j);
pdos << " {0x" << hex << setfill('0')
pdos << " {0x" << hex << setfill('0')
<< setw(4) << pdo.index
<< ", " << dec << (unsigned int) pdo.entry_count
<< ", ";
@@ -155,7 +155,7 @@ void CommandCStruct::generateSlaveCStruct(
for (k = 0; k < pdo.entry_count; k++) {
m.getPdoEntry(&entry, slave.position, i, j, k);
entries << " {0x" << hex << setfill('0')
entries << " {0x" << hex << setfill('0')
<< setw(4) << entry.index
<< ", 0x" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << (unsigned int) entry.bit_length
@@ -201,6 +201,7 @@ void CommandCStruct::generateSlaveCStruct(
cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl
<< syncs.str()
<< " {0xff}" << endl
<< "};" << endl
<< endl;
}
tool/CommandDomains.cpp
+2 -2
View File
@@ -71,7 +71,7 @@ string CommandDomains::helpString() const
<< endl
<< " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
<< endl
<< " 0x00 0x00 0x00 0x00 0x00 0x00" << endl
<< " 00 00 00 00 00 00" << endl
<< endl
<< "The process data are displayed as hexadecimal bytes." << endl
<< endl
@@ -187,7 +187,7 @@ void CommandDomains::showDomain(
for (j = 0; j < fmmu.data_size; j++) {
if (j && !(j % BreakAfterBytes))
cout << endl << indent << " ";
cout << "0x" << setw(2)
cout << setw(2)
<< (unsigned int) *(processData + dataOffset + j) << " ";
}
cout << endl;
tool/CommandMaster.cpp
+7 -6
View File
@@ -149,8 +149,8 @@ void CommandMaster::execute(const StringVector &args)
<< " Tx frame rate [1/s]: "
<< setfill(' ') << setprecision(0) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
cout <<
setw(5) << data.devices[i].tx_frame_rates[j] / 1000.0;
cout << setw(ColWidth)
<< data.devices[i].tx_frame_rates[j] / 1000.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
@@ -159,8 +159,8 @@ void CommandMaster::execute(const StringVector &args)
<< " Tx rate [KByte/s]: "
<< setprecision(1) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
cout << setw(5)
<< data.devices[i].tx_byte_rates[j] / 1024000.0;
cout << setw(ColWidth)
<< data.devices[i].tx_byte_rates[j] / 1024.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
@@ -169,7 +169,8 @@ void CommandMaster::execute(const StringVector &args)
<< " Loss rate [1/s]: "
<< setprecision(0) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
cout << setw(5) << data.devices[i].loss_rates[j] / 1000.0;
cout << setw(ColWidth)
<< data.devices[i].loss_rates[j] / 1000.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
@@ -183,7 +184,7 @@ void CommandMaster::execute(const StringVector &args)
perc = 100.0 * data.devices[i].loss_rates[j] /
data.devices[i].tx_frame_rates[j];
}
cout << setw(5) << perc;
cout << setw(ColWidth) << perc;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
tool/CommandMaster.h
+3
View File
@@ -42,6 +42,9 @@ class CommandMaster:
string helpString() const;
void execute(const StringVector &);
private:
enum {ColWidth = 6};
};
/****************************************************************************/
tool/CommandRescan.cpp
+85
View File
@@ -0,0 +1,85 @@
/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
* vim: expandtab
*
****************************************************************************/
#include <sstream>
#include <iomanip>
using namespace std;
#include "CommandRescan.h"
#include "MasterDevice.h"
/*****************************************************************************/
CommandRescan::CommandRescan():
Command("rescan", "Rescan the bus.")
{
}
/*****************************************************************************/
string CommandRescan::helpString() const
{
stringstream str;
str << getName() << endl
<< endl
<< getBriefDescription() << endl
<< endl
<< "Command a bus rescan. Gathered slave information will be" << endl
<< "forgotten and slaves will be read in again." << endl
<< endl;
return str.str();
}
/****************************************************************************/
void CommandRescan::execute(const StringVector &args)
{
MasterIndexList masterIndices;
if (args.size() != 0) {
stringstream err;
err << "'" << getName() << "' takes no arguments!";
throwInvalidUsageException(err);
}
masterIndices = getMasterIndices();
MasterIndexList::const_iterator mi;
for (mi = masterIndices.begin();
mi != masterIndices.end(); mi++) {
MasterDevice m(*mi);
m.open(MasterDevice::ReadWrite);
m.rescan();
}
}
/*****************************************************************************/
tool/CommandRescan.h
+49
View File
@@ -0,0 +1,49 @@
/*****************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
****************************************************************************/
#ifndef __COMMANDRESCAN_H__
#define __COMMANDRESCAN_H__
#include "Command.h"
/****************************************************************************/
class CommandRescan:
public Command
{
public:
CommandRescan();
string helpString() const;
void execute(const StringVector &);
};
/****************************************************************************/
#endif
tool/CommandSoeRead.cpp
+2
View File
@@ -90,6 +90,8 @@ void CommandSoeRead::execute(const StringVector &args)
throwInvalidUsageException(err);
}
ioctl.drive_no = 0; // FIXME
try {
ioctl.idn = parseIdn(args[0]);
} catch (runtime_error &e) {
tool/CommandSoeWrite.cpp
+2
View File
@@ -92,6 +92,8 @@ void CommandSoeWrite::execute(const StringVector &args)
throwInvalidUsageException(err);
}
ioctl.drive_no = 0; // FIXME
try {
ioctl.idn = parseIdn(args[0]);
} catch (runtime_error &e) {

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