bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Reading more base information (incl. whether DC supported).

This commit is contained in:
Florian Pose 2009-04-07 09:00:20 +00:00
parent 3f6da06083
commit 205891e412
7 changed files with 108 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
master/cdev.c
View File

@ -209,6 +209,7 @@ int ec_cdev_ioctl_slave(
{
ec_ioctl_slave_t data;
const ec_slave_t *slave;
int i;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@ -242,6 +243,12 @@ int ec_cdev_ioctl_slave(
data.coe_details = slave->sii.coe_details;
data.general_flags = slave->sii.general_flags;
data.current_on_ebus = slave->sii.current_on_ebus;
for (i = 0; i < EC_MAX_PORTS; i++) {
data.ports[i] = slave->base_ports[i];
}
data.fmmu_bit = slave->base_fmmu_bit_operation;
data.dc_supported = slave->base_dc_supported;
data.dc_range = slave->base_dc_range;
data.al_state = slave->current_state;
data.error_flag = slave->error_flag;

24
master/fsm_slave_scan.c
View File

@ -247,7 +247,7 @@ void ec_fsm_slave_scan_state_state(
}
// read base data
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 12);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_base;
@ -263,6 +263,8 @@ void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *fsm /**< slave state mach
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
u8 octet;
int i;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
@ -287,8 +289,8 @@ void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *fsm /**< slave state mach
slave->base_type = EC_READ_U8 (datagram->data);
slave->base_revision = EC_READ_U8 (datagram->data + 1);
slave->base_build = EC_READ_U16(datagram->data + 2);
slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
if (slave->base_fmmu_count > EC_MAX_FMMUS) {
EC_WARN("Slave %u has more FMMUs (%u) than the master can"
" handle (%u).\n", slave->ring_position,
@ -296,6 +298,24 @@ void ec_fsm_slave_scan_state_base(ec_fsm_slave_scan_t *fsm /**< slave state mach
slave->base_fmmu_count = EC_MAX_FMMUS;
}
slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
if (slave->base_sync_count > EC_MAX_SYNC_MANAGERS) {
EC_WARN("Slave %u provides more sync managers (%u) than the master can"
" handle (%u).\n", slave->ring_position,
slave->base_sync_count, EC_MAX_SYNC_MANAGERS);
slave->base_sync_count = EC_MAX_SYNC_MANAGERS;
}
octet = EC_READ_U8(datagram->data + 7);
for (i = 0; i < EC_MAX_PORTS; i++) {
slave->base_ports[i] = (octet >> (2 * i)) & 0x03;
}
octet = EC_READ_U8(datagram->data + 8);
slave->base_fmmu_bit_operation = octet & 0x01;
slave->base_dc_supported = (octet >> 2) & 0x01;
slave->base_dc_range = ((octet >> 3) & 0x01) ? EC_DC_64 : EC_DC_32;
// read data link status
ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
ec_datagram_zero(datagram);

17
master/globals.h
View File

@ -157,6 +157,23 @@ typedef struct {
uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */
} ec_sii_general_flags_t;
/** EtherCAT slave port descriptor.
*/
typedef enum {
EC_PORT_NOT_IMPLEMENTED,
EC_PORT_NOT_CONFIGURED,
EC_PORT_EBUS,
EC_PORT_MII
} ec_slave_port_desc_t;
/** EtherCAT slave distributed clocks range.
*/
typedef enum {
EC_DC_32, /**< 32 bit. */
EC_DC_64 /*< 64 bit for system time, system time offset and
port 0 receive time. */
} ec_slave_dc_range_t;
/*****************************************************************************/
/** Convenience macro for printing EtherCAT-specific information to syslog.

4
master/ioctl.h
View File

@ -157,6 +157,10 @@ typedef struct {
ec_sii_coe_details_t coe_details;
ec_sii_general_flags_t general_flags;
int16_t current_on_ebus;
ec_slave_port_desc_t ports[EC_MAX_PORTS];
uint8_t fmmu_bit;
uint8_t dc_supported;
ec_slave_dc_range_t dc_range;
uint8_t al_state;
uint8_t error_flag;
uint8_t sync_count;

7
master/slave.c
View File

@ -86,14 +86,21 @@ void ec_slave_init(
slave->base_revision = 0;
slave->base_build = 0;
slave->base_fmmu_count = 0;
slave->base_sync_count = 0;
for (i = 0; i < EC_MAX_PORTS; i++) {
slave->base_ports[i] = EC_PORT_NOT_IMPLEMENTED;
slave->ports[i].dl_link = 0;
slave->ports[i].dl_loop = 0;
slave->ports[i].dl_signal = 0;
slave->sii.physical_layer[i] = 0xFF;
}
slave->base_fmmu_bit_operation = 0;
slave->base_dc_supported = 0;
slave->base_dc_range = EC_DC_32;
slave->sii_words = NULL;
slave->sii_nwords = 0;

7
master/slave.h
View File

@ -127,7 +127,12 @@ struct ec_slave
uint8_t base_type; /**< Slave type. */
uint8_t base_revision; /**< Revision. */
uint16_t base_build; /**< Build number. */
uint16_t base_fmmu_count; /**< Number of supported FMMUs. */
uint8_t base_fmmu_count; /**< Number of supported FMMUs. */
uint8_t base_sync_count; /**< Number of supported sync managers. */
ec_slave_port_desc_t base_ports[EC_MAX_PORTS]; /**< Port descriptors. */
uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */
uint8_t base_dc_supported; /**< Distributed clocks are supported. */
ec_slave_dc_range_t base_dc_range; /**< DC range. */
// data link status
ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */

45
tool/CommandSlaves.cpp
View File

@ -219,6 +219,7 @@ void CommandSlaves::showSlaves(
)
{
SlaveList::const_iterator si;
int i;
for (si = slaves.begin(); si != slaves.end(); si++) {
cout << "=== Slave " << dec << si->position << " ===" << endl;
@ -240,6 +241,50 @@ void CommandSlaves::showSlaves(
<< " Serial number: 0x"
<< setw(8) << si->serial_number << endl;
cout << "Ports:" << endl;
for (i = 0; i < EC_MAX_PORTS; i++) {
cout << " " << i << ": ";
switch (si->ports[i]) {
case EC_PORT_NOT_IMPLEMENTED:
cout << "Not implemented.";
break;
case EC_PORT_NOT_CONFIGURED:
cout << "Not configured.";
break;
case EC_PORT_EBUS:
cout << "EBUS.";
break;
case EC_PORT_MII:
cout << "MII.";
break;
default:
cout << "???";
}
cout << endl;
}
cout << "DL information:" << endl
<< " FMMU bit operation: "
<< (si->fmmu_bit ? "yes" : "no") << endl
<< " Distributed clocks: ";
if (si->dc_supported) {
cout << "yes (";
switch (si->dc_range) {
case EC_DC_32:
cout << "32 bit";
break;
case EC_DC_64:
cout << "64 bit";
break;
default:
cout << "???";
}
cout << ")";
} else {
cout << "no";
}
cout << endl;
if (si->mailbox_protocols) {
list<string> protoList;
list<string>::const_iterator protoIter;