声明一下:本文假设你对EtherCat有理解和对IgH有使用经验,遇到问题的时候来看最合适。假如你是初学者,类似帖子有很多的,也可以找ChatGPT对话学习效果更好。
2013年,我首次接触EtherCat通讯。初碰实时Linux+Xenomai2(Ubuntu10.04)的时候,有很多东西要做,根本没经历研究IgH的主站,直接选择acontis收费主站。
2017年,我与北京acontis总代的技术支持聊了一下才知道,原来以第一个带时钟的从站作为DC时钟时,acontis会新开一个实时线程来作通讯。这对于更低的通讯周期的要求的我来说,是很麻烦的事情。于是我转过头来奔向IgH。
此时我已经使用了Ubuntu14.04.5+Linux3.18.20,这个内核版本是Xenomai官方patch支持Linux3.x的最后一个版本。别问我为什么不选Linux3.14,问就是Uubntu14.04.5在Linux3.14下不稳定。而IgH的网卡驱动最接近这个内核版本的的就是Linux3.14。直接暴力手动patch移植intel网卡驱动。运气很好没怎么踩坑,经过无数次强制重启直到我开始怀疑我的硬盘还行不行的时候,我成功了 。这个时候我飘了,决定把我的Y430P笔记本电脑网卡的也移植一下。结果失败了,我猜想原因是出现在硬件联络层。这个时候我才想起来当初acontis技术说过的:事实上,Realtek网卡效果没有Intel网卡效果好的。后来我看了这两家驱动代码才有点明白,大概就是网卡厂商开放的功能是不同的,Intel的内核驱动代码量比Realtek多很多。这或许对实时数据收发是有益处的。
用过IgH的人都知道,IgH只需要配置从站的Process Data(SM2和SM3)就够了。其他配置直接从EEPROM读取的。做EtherCat产品嘛,TwinCat肯定是标杆,我就像模像样的写了一个解析acontis的ENI中的SM2和SM3的PDO部分配置的工具(其他的不用我管,不改源代码我也管不了),用来配置IgH。除了显得我们很专业,也为了防止用户自己换其他品牌驱动后出现生产或事故问题。
本以为事情就这样愉快的结束了。我可以一直陪甘雨老婆逛提瓦特大陆了。然而一年后,同事说:我们采购了一家I/O板卡,IgH切不到OP。What?Master代码我一共没看几行,直接凌乱了,甘雨老婆都不香了。我开始阅读和调试ioctl.c,master.c和slave.c。是的,你没有看错,我没读fsm*.c,我就是这么的无知。问题已经被我找到了,IgH读EEPROM的SII来配置SM0~SM3,但是没读到,或读到了错误的SII(这点我一直不理解,为什么SII和ESI会不一样),当时我定位到了slave部分(最外围嘛),SII不对,所以MailBox失败,COE失败,SM1到SM3就都没有配置。之前说了,我只配置了SM2和SM3。没有SM0和SM1的时候,IgH就把SM2和SM3配置到了SM0和SM1。而IgH是写死的,SM0和SM1走MailBox ,SM3和SM4走Process Date,通讯肯定有问题的。
既然如此,我从ENI读一下SM0和SM1,在ioctl.c加一个函数传递配置,slave.c加一个函数配置sync数组,搞定。甘雨老婆我来了!
//伪代码,照这个生成SII数据
uint8_t data[8 * EC_MAX_SYNC_MANAGERS] = {0};
size_t size = sii_mb_sync_count * 8 + sii_pd_sync_count * 8;
for(j = 0; j < sii_mb_sync_count; j++){
EC_WRITE_U16(data + j*8 + 0, sii_mb_sync[j].physical_start_address);
EC_WRITE_U16(data + j*8 + 2, sii_mb_sync[j].default_length);
EC_WRITE_U8(data + j*8 + 4, sii_mb_sync[j].control_bytes);
EC_WRITE_U8(data + j*8 + 6, sii_mb_sync[j].enable);
}
for(k = 0; k < sii_pd_sync_count; k++){
EC_WRITE_U16(data + (j+k)*8 + 0, sii_pd_sync[k].physical_start_address);
EC_WRITE_U16(data + (j+k)*8 + 2, sii_pd_sync[k].default_length);
EC_WRITE_U8(data + (j+k)*8 + 4, sii_pd_sync[k].control_bytes);
EC_WRITE_U8(data + (j+k)*8 + 6, sii_pd_sync[k].enable);
}
ecrt_master_set_sii_sync(master, Index, mailbox_protocols, data, size);
// lib/master.C下添加
int ecrt_master_set_sii_sync(ec_master_t *master, uint16_t slave_position, uint16_t mailbox_protocols,
uint8_t *data, size_t size)
{
ec_ioctl_slave_sii_sync_t sii;
int ret;
sii.mailbox_protocols = mailbox_protocols;
sii.slave_position = slave_position;
sii.size = size;
sii.data = data;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_INIT_SII_SYNC, &sii);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to execute SDO download: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
//ioctl.h
typedef struct {
// inputs
uint16_t slave_position;
uint16_t mailbox_protocols; /**< Supported mailbox protocols. */
uint8_t *data; /**< Category data. */
size_t size; /**< Number of bytes. */
} ec_ioctl_slave_sii_sync_t;
#define EC_IOCTL_SLAVE_INIT_SII_SYNC EC_IOW(0x5a, ec_ioctl_slave_sii_sync_t)
//ioctl.c中添加,记得在EC_IOCTL中i调用这个函数
/*****************************************************************************/
static ATTRIBUTES int ec_ioctl_slave_init_sii_sync(
ec_master_t *master, /**< EtherCAT master. */
void *arg, /**< Userspace address to store the results. */
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
)
{
//ec_slave_config_t *sc;
ec_slave_t *slave;
ec_ioctl_slave_sii_sync_t data;
uint8_t *sii_data = NULL;
int ret;
if (unlikely(!ctx->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
return -EFAULT;
if (!data.size)
return -EINVAL;
if (!(sii_data = kmalloc(data.size, GFP_KERNEL))) {
return -ENOMEM;
}
if (copy_from_user(sii_data, (void __user *) data.data, data.size)) {
kfree(sii_data);
return -EFAULT;
}
if (down_interruptible(&master->master_sem)) {
kfree(sii_data);
return -EINTR;
}
if (!(slave = ec_master_find_slave(
master, 0, data.slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave %u does not exist!\n",
data.slave_position);
kfree(sii_data);
return -EINVAL;
}
/*
if (!(sc = ec_master_get_config(master, data.slave_position))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
data.slave_position);
kfree(sii_data);
return -ENOENT;
}
sc->use_eni_sii = true;
sc->mailbox_protocols = data.mailbox_protocols;
sc->sii_syncs_data = kmalloc(data.size, GFP_KERNEL);
memcpy(sc->sii_syncs_data, sii_data, data.size);
sc->sii_syncs_size = data.size;
*/
//ec_slave_clear_sync_managers(slave);
slave->sii.mailbox_protocols = data.mailbox_protocols;
if(0 != (ret = ec_slave_init_sii_syncs(slave, sii_data, data.size))){
EC_MASTER_ERR(master, "Slave %u fetch_sii_syncs Failed!\n",
data.slave_position);
}
up(&master->master_sem); /** \todo sc could be invalidated */
kfree(sii_data);
return 0;
}
//slave.c中添加
int ec_slave_init_sii_syncs(
ec_slave_t *slave, /**< EtherCAT slave. */
const uint8_t *data, /**< Category data. */
size_t data_size /**< Number of bytes. */
)
{
unsigned int i, count, total_count;
ec_sync_t *sync;
size_t memsize;
ec_sync_t *syncs;
uint8_t index;
// one sync manager struct is 4 words long
if (data_size % 8) {
EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",
data_size);
return -EINVAL;
}
count = data_size / 8;
if (count) {
slave->sii.sync_count = 0;
total_count = count + slave->sii.sync_count;
if (total_count > EC_MAX_SYNC_MANAGERS) {
EC_SLAVE_ERR(slave, "Exceeded maximum number of"
" sync managers!\n");
return -EOVERFLOW;
}
memsize = sizeof(ec_sync_t) * total_count;
if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {
EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"
" for sync managers.\n", memsize);
return -ENOMEM;
}
for (i = 0; i < slave->sii.sync_count; i++)
ec_sync_init_copy(syncs + i, slave->sii.syncs + i);
// initialize new sync managers
for (i = 0; i < count; i++, data += 8) {
index = i + slave->sii.sync_count;
sync = &syncs[index];
ec_sync_init(sync, slave);
sync->physical_start_address = EC_READ_U16(data);
sync->default_length = EC_READ_U16(data + 2);
sync->control_register = EC_READ_U8(data + 4);
sync->enable = EC_READ_U8(data + 6);
EC_SLAVE_DBG(slave, 1, "index = %d, start_addr = %d, def_len = %d, control_reg = %d, enable = %d\n",
index, sync->physical_start_address, sync->default_length, sync->control_register, sync->enable);
}
if (slave->sii.syncs)
kfree(slave->sii.syncs);
slave->sii.syncs = syncs;
slave->sii.sync_count = total_count;
}
return 0;
}
又过差不多一年,同事说,客户要求,加工过程中,从站要经常断电,从新上电以后切不到OP!要知道,不管是机器人还是机床,基本都是要么一起通电要么一起断电的。所以这个真没考虑过。这回直接查到fsm*.c了, 当网络拓扑结构发生变化,slaves被从新扫描,我之前配置的slave部分丢了。断电以后没有人去配置slave的sync部分了,因此切不到OP。一番debug后,最新的配置方式是把SM信息写到master结构的slave中,在fsm阶段替换slave的SII中的sync部分,这样SM部分彻底告别SII了。SM的部分我想基本完事了吧。
//伪代码,照这个生成SII数据
uint8_t data[8 * EC_MAX_SYNC_MANAGERS] = {0};
size_t size = sii_mb_sync_count * 8 + sii_pd_sync_count * 8;
for(j = 0; j < sii_mb_sync_count; j++){
EC_WRITE_U16(data + j*8 + 0, sii_mb_sync[j].physical_start_address);
EC_WRITE_U16(data + j*8 + 2, sii_mb_sync[j].default_length);
EC_WRITE_U8(data + j*8 + 4, sii_mb_sync[j].control_bytes);
EC_WRITE_U8(data + j*8 + 6, sii_mb_sync[j].enable);
}
for(k = 0; k < sii_pd_sync_count; k++){
EC_WRITE_U16(data + (j+k)*8 + 0, sii_pd_sync[k].physical_start_address);
EC_WRITE_U16(data + (j+k)*8 + 2, sii_pd_sync[k].default_length);
EC_WRITE_U8(data + (j+k)*8 + 4, sii_pd_sync[k].control_bytes);
EC_WRITE_U8(data + (j+k)*8 + 6, sii_pd_sync[k].enable);
}
ecrt_slave_config_sii_sync(slave_config, mailbox_protocols, data, size);
// lib/slave_config.c
/*****************************************************************************/
int ecrt_slave_config_sii_sync(ec_slave_config_t *sc, uint16_t mailbox_protocols,
uint8_t *data, size_t size)
{
ec_ioctl_config_sii_sync_t sii;
int ret;
sii.config_index = sc->index;
sii.mailbox_protocols = mailbox_protocols;
sii.size = size;
sii.data = data;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_INIT_SII_SYNC, &sii);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to execute SDO download: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
//ioctl.h
typedef struct {
// inputs
uint32_t config_index;
uint16_t mailbox_protocols; /**< Supported mailbox protocols. */
uint8_t *data; /**< Category data. */
size_t size; /**< Number of bytes. */
} ec_ioctl_config_sii_sync_t;
#define EC_IOCTL_SC_INIT_SII_SYNC EC_IOW(0x5b, ec_ioctl_config_sii_sync_t)
//ioctl.c中添加,记得在EC_IOCTL中i调用这个函数
/*****************************************************************************/
static ATTRIBUTES int ec_ioctl_config_init_sii_sync(
ec_master_t *master, /**< EtherCAT master. */
void *arg, /**< ioctl() argument. */
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
)
{
ec_ioctl_config_sii_sync_t data;
ec_slave_config_t *sc;
uint8_t *sii_data = NULL;
if (unlikely(!ctx->requested))
return -EPERM;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (!data.size)
return -EINVAL;
if (!(sii_data = kmalloc(data.size, GFP_KERNEL))) {
return -ENOMEM;
}
if (copy_from_user(sii_data, (void __user *) data.data, data.size)) {
kfree(sii_data);
return -EFAULT;
}
if (down_interruptible(&master->master_sem)) {
kfree(sii_data);
return -EINTR;
}
if (!(sc = ec_master_get_config(
master, data.config_index))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
data.config_index);
kfree(sii_data);
return -EINVAL;
}
sc->use_eni_sii = true;
sc->mailbox_protocols = data.mailbox_protocols;
sc->sii_syncs_data = kmalloc(data.size, GFP_KERNEL);
memcpy(sc->sii_syncs_data, sii_data, data.size);
sc->sii_syncs_size = data.size;
up(&master->master_sem); /** \todo sc could be invalidated */
kfree(sii_data);
return 0;
}
//fsm_slave_config.c 中的函数,自己对比修改一下 #if 1 部分
void ec_fsm_slave_config_enter_mbox_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
#if 1
ec_slave_config_t *sc = slave->config;
ec_master_t *master = slave->master;
#endif
unsigned int i;
// slave is now in INIT
if (slave->current_state == slave->requested_state) {
fsm->state = ec_fsm_slave_config_state_end; // successful
EC_SLAVE_DBG(slave, 1, "Finished configuration.\n");
return;
}
#if 1
if(master->active && sc && sc->use_eni_sii){
if(0 != (ec_slave_init_sii_syncs(slave, sc->sii_syncs_data, sc->sii_syncs_size)) ){
EC_SLAVE_ERR(slave, "init_sii_syncs Failed!\n");
}
slave->sii.mailbox_protocols = sc->mailbox_protocols;
}
#endif
if (!slave->sii.mailbox_protocols) {
// no mailbox protocols supported
EC_SLAVE_DBG(slave, 1, "Slave does not support"
" mailbox communication.\n");
#ifdef EC_SII_ASSIGN
ec_fsm_slave_config_enter_assign_pdi(fsm);
#else
ec_fsm_slave_config_enter_boot_preop(fsm);
#endif
return;
}
EC_SLAVE_DBG(slave, 1, "Configuring mailbox sync managers...\n");
if (slave->requested_state == EC_SLAVE_STATE_BOOT) {
ec_sync_t sync;
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * 2);
ec_datagram_zero(datagram);
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.boot_rx_mailbox_offset;
sync.control_register = 0x26;
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size,
EC_DIR_INVALID, // use default direction
0, // no PDO xfer
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.boot_rx_mailbox_offset;
slave->configured_rx_mailbox_size =
slave->sii.boot_rx_mailbox_size;
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.boot_tx_mailbox_offset;
sync.control_register = 0x22;
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size,
EC_DIR_INVALID, // use default direction
0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.boot_tx_mailbox_offset;
slave->configured_tx_mailbox_size =
slave->sii.boot_tx_mailbox_size;
} else if (slave->sii.sync_count >= 2) { // mailbox configuration provided
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
ec_datagram_zero(datagram);
for (i = 0; i < 2; i++) {
ec_sync_page(&slave->sii.syncs[i], i,
slave->sii.syncs[i].default_length,
NULL, // use default sync manager configuration
0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE * i);
}
slave->configured_rx_mailbox_offset =
slave->sii.syncs[0].physical_start_address;
slave->configured_rx_mailbox_size =
slave->sii.syncs[0].default_length;
slave->configured_tx_mailbox_offset =
slave->sii.syncs[1].physical_start_address;
slave->configured_tx_mailbox_size =
slave->sii.syncs[1].default_length;
} else { // no mailbox sync manager configurations provided
ec_sync_t sync;
EC_SLAVE_DBG(slave, 1, "Slave does not provide"
" mailbox sync manager configurations.\n");
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * 2);
ec_datagram_zero(datagram);
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.std_rx_mailbox_offset;
sync.control_register = 0x26;
sync.enable = 1;
ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size,
NULL, // use default sync manager configuration
0, // no PDO xfer
datagram->data);
slave->configured_rx_mailbox_offset =
slave->sii.std_rx_mailbox_offset;
slave->configured_rx_mailbox_size =
slave->sii.std_rx_mailbox_size;
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.std_tx_mailbox_offset;
sync.control_register = 0x22;
sync.enable = 1;
ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size,
NULL, // use default sync manager configuration
0, // no PDO xfer
datagram->data + EC_SYNC_PAGE_SIZE);
slave->configured_tx_mailbox_offset =
slave->sii.std_tx_mailbox_offset;
slave->configured_tx_mailbox_size =
slave->sii.std_tx_mailbox_size;
}
fsm->take_time = 1;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_mbox_sync;
}
总结一句:ENI很重要,ENI很重要,ENI很重要。
唠叨一句:大多数Slave厂商用TwinCat配ESI跑测试,他才不管从站的SII对不对呢。