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register_slave_list() und Bugfix in deactivate_slaves()

This commit is contained in:
Florian Pose 2006-01-26 13:41:47 +00:00
parent 152b545aaa
commit 0dc495bf11
5 changed files with 110 additions and 57 deletions
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27
include/EtherCAT_rt.h
View File

@ -20,6 +20,9 @@ typedef struct ec_slave_type ec_slave_type_t;
struct ec_slave;
typedef struct ec_slave ec_slave_t;
struct ec_slave_init;
typedef struct ec_slave_init ec_slave_init_t;
/*****************************************************************************/
ec_master_t *EtherCAT_rt_request_master(unsigned int master_index);
@ -32,6 +35,10 @@ ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
const char *product_name,
int domain);
int EtherCAT_rt_register_slave_list(ec_master_t *master,
const ec_slave_init_t *slaves,
unsigned int count);
int EtherCAT_rt_activate_slaves(ec_master_t *master);
int EtherCAT_rt_deactivate_slaves(ec_master_t *master);
@ -84,4 +91,24 @@ struct ec_slave
/*****************************************************************************/
/**
Beschreibung eines EtherCAT-Slave-Typs.
Diese Beschreibung dient zur Konfiguration einer bestimmten
Slave-Art. Sie enthält die Konfigurationsdaten für die
Slave-internen Sync-Manager und FMMU's.
*/
struct ec_slave_init
{
ec_slave_t **slave_ptr; /**< Zeiger auf den Slave-Zeiger, der mit der
Adresse des Slaves belegt werden soll. */
unsigned int bus_index; /**< Bus-Index des zu registrierenden Slaves */
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
unsigned int domain; /**< Domäne, in der registriert werden soll. */
};
/*****************************************************************************/
#endif

38
master/master.c
View File

@ -615,7 +615,7 @@ int ec_state_change(ec_master_t *master, ec_slave_t *slave,
}
if (unlikely(cmd.working_counter != 1)) {
printk(KERN_ERR "EtherCAT: Could not set state %02X - Device %i (%s %s)"
printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i (%s %s)"
" did not respond!\n", state_and_ack, slave->ring_position * (-1),
slave->type->vendor_name, slave->type->product_name);
return -1;
@ -735,7 +735,7 @@ void ec_output_lost_frames(ec_master_t *master)
@param product_name String mit dem Produktnamen
@param domain Domäne, in der der Slave sein soll
@return 0 bei Erfolg, sonst < 0
@return Zeiger auf den Slave bei Erfolg, sonst NULL
*/
ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
@ -818,6 +818,37 @@ ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
/*****************************************************************************/
/**
Registriert eine ganze Liste von Slaves beim Master.
@param master Der EtherCAT-Master
@param slaves Array von Slave-Initialisierungsstrukturen
@param count Anzahl der Strukturen in "slaves"
@return 0 bei Erfolg, sonst < 0
*/
int EtherCAT_rt_register_slave_list(ec_master_t *master,
const ec_slave_init_t *slaves,
unsigned int count)
{
unsigned int i;
for (i = 0; i < count; i++)
{
if ((*(slaves[i].slave_ptr) =
EtherCAT_rt_register_slave(master, slaves[i].bus_index,
slaves[i].vendor_name,
slaves[i].product_name,
slaves[i].domain)) == NULL)
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Konfiguriert alle Slaves und setzt den Operational-Zustand.
@ -1046,7 +1077,7 @@ int EtherCAT_rt_deactivate_slaves(ec_master_t *master)
for (i = 0; i < master->bus_slaves_count; i++)
{
slave = master->bus_slaves + 1;
slave = master->bus_slaves + i;
if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_INIT) != 0))
return -1;
@ -1155,6 +1186,7 @@ void EtherCAT_rt_debug_level(ec_master_t *master, int level)
/*****************************************************************************/
EXPORT_SYMBOL(EtherCAT_rt_register_slave);
EXPORT_SYMBOL(EtherCAT_rt_register_slave_list);
EXPORT_SYMBOL(EtherCAT_rt_activate_slaves);
EXPORT_SYMBOL(EtherCAT_rt_deactivate_slaves);
EXPORT_SYMBOL(EtherCAT_rt_domain_xio);

38
master/types.h
View File

@ -25,7 +25,7 @@
typedef enum
{
EC_SIMPLE_SLAVE, EC_MAILBOX_SLAVE, EC_NOSYNC_SLAVE
EC_SIMPLE_SLAVE, EC_MAILBOX_SLAVE, EC_NOSYNC_SLAVE
}
ec_slave_features_t;
@ -41,25 +41,25 @@ ec_slave_features_t;
struct ec_slave_type
{
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
const char *product_desc; /**< Genauere Beschreibung des Slave-Typs */
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
const char *product_desc; /**< Genauere Beschreibung des Slave-Typs */
ec_slave_features_t features; /**< Features des Slave-Typs */
ec_slave_features_t features; /**< Features des Slave-Typs */
const unsigned char *sm0; /**< Konfigurationsdaten des
ersten Sync-Managers */
const unsigned char *sm1; /**< Konfigurationsdaten des
zweiten Sync-Managers */
const unsigned char *sm2; /**< Konfigurationsdaten des
dritten Sync-Managers */
const unsigned char *sm3; /**< Konfigurationsdaten des
vierten Sync-Managers */
const unsigned char *sm0; /**< Konfigurationsdaten des
ersten Sync-Managers */
const unsigned char *sm1; /**< Konfigurationsdaten des
zweiten Sync-Managers */
const unsigned char *sm2; /**< Konfigurationsdaten des
dritten Sync-Managers */
const unsigned char *sm3; /**< Konfigurationsdaten des
vierten Sync-Managers */
const unsigned char *fmmu0; /**< Konfigurationsdaten
der ersten FMMU */
const unsigned char *fmmu0; /**< Konfigurationsdaten
der ersten FMMU */
unsigned int process_data_size; /**< Länge der Prozessdaten in Bytes */
unsigned int process_data_size; /**< Länge der Prozessdaten in Bytes */
};
/*****************************************************************************/
@ -73,9 +73,9 @@ struct ec_slave_type
typedef struct slave_ident
{
unsigned int vendor_id; /**< Hersteller-Code */
unsigned int product_code; /**< Herstellerspezifischer Produktcode */
const ec_slave_type_t *type; /**< Zeiger auf den entsprechenden Slave-Typ */
unsigned int vendor_id; /**< Hersteller-Code */
unsigned int product_code; /**< Herstellerspezifischer Produktcode */
const ec_slave_type_t *type; /**< Zeiger auf den entsprechenden Typ */
}
ec_slave_ident_t;

24
mini/mini.c
View File

@ -12,8 +12,8 @@
#include <linux/delay.h>
#include <linux/timer.h>
#include "../include/EtherCAT_rt.h"
#include "../include/EtherCAT_si.h"
#include "../include/EtherCAT_rt.h" // Echtzeitschnittstelle
#include "../include/EtherCAT_si.h" // Slave-Interface-Makros
/*****************************************************************************/
@ -26,15 +26,13 @@ int dig1;
struct timer_list timer;
unsigned long last_start_jiffies;
/*****************************************************************************/
ec_slave_init_t slaves[] = {
// Zeiger, Index, Herstellername, Produktname, Domäne
{ &s_out, 9, "Beckhoff", "EL2004", 1 },
{ &s_in, 1, "Beckhoff", "EL3102", 1 }
};
int __init check_slaves(void)
{
s_in = EtherCAT_rt_register_slave(master, 1, "Beckhoff", "EL3102", 1);
s_out = EtherCAT_rt_register_slave(master, 9, "Beckhoff", "EL2004", 1);
return s_in && s_out;
}
#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
/*****************************************************************************/
@ -69,14 +67,16 @@ int __init init_mini_module(void)
goto out_return;
}
if (!check_slaves()) {
//EtherCAT_rt_debug_level(master, 2);
if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
printk(KERN_ERR "Could not register slaves!\n");
goto out_release_master;
}
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_rt_activate_slaves(master) != 0) {
if (EtherCAT_rt_activate_slaves(master)) {
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}

40
rt/msr_module.c
View File

@ -57,17 +57,14 @@ ec_slave_t *s_in1, *s_out1, *s_out2, *s_out3;
double value;
int dig1;
/*****************************************************************************/
ec_slave_init_t slaves[] = {
{&s_in1, 1, "Beckhoff", "EL3102", 0},
{&s_out1, 8, "Beckhoff", "EL2004", 0},
{&s_out2, 9, "Beckhoff", "EL2004", 0},
{&s_out3, 10, "Beckhoff", "EL2004", 0}
};
static int register_slaves(void)
{
s_in1 = EtherCAT_rt_register_slave(master, 1, "Beckhoff", "EL3102", 0);
s_out1 = EtherCAT_rt_register_slave(master, 8, "Beckhoff", "EL2004", 0);
s_out2 = EtherCAT_rt_register_slave(master, 9, "Beckhoff", "EL2004", 0);
s_out3 = EtherCAT_rt_register_slave(master, 10, "Beckhoff", "EL2004", 0);
return !s_in1 || !s_out1 || !s_out2 || !s_out3;
}
#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
/******************************************************************************
*
@ -194,28 +191,25 @@ int __init init_rt_module(void)
goto out_msr_cleanup;
}
printk("Registering EtherCAT slaves.\n");
if (register_slaves()) {
printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
printk(KERN_ERR "EtherCAT: Could not register slaves!\n");
goto out_release_master;
}
printk("Activating all EtherCAT slaves.\n");
if (EtherCAT_rt_activate_slaves(master) < 0) {
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}
do_gettimeofday(&process_time);
msr_time_increment.tv_sec=0;
msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
msr_time_increment.tv_sec = 0;
msr_time_increment.tv_usec = (unsigned int) (1000000 / MSR_ABTASTFREQUENZ);
ipipe_init_attr (&attr);
attr.name = "IPIPE-MSR-MODULE";
ipipe_init_attr(&attr);
attr.name = "IPIPE-MSR-MODULE";
attr.priority = IPIPE_ROOT_PRIO + 1;
attr.entry = &domain_entry;
ipipe_register_domain(&this_domain,&attr);
attr.entry = &domain_entry;
ipipe_register_domain(&this_domain, &attr);
return 0;