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ethercat
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Ausgaben verbessert, Mini-Modul angepasst.

This commit is contained in:
Florian Pose 2006-04-03 19:13:11 +00:00
parent 0eb95d938e
commit 294639b752
3 changed files with 111 additions and 99 deletions
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191
master/slave.c
View File

@ -906,6 +906,20 @@ void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT-Slave */
ec_sdo_entry_t *sdo_entry;
int first, i;
if (!verbosity) {
if (slave->type) {
EC_INFO("%2i) %s %s: %s\n", slave->ring_position,
slave->type->vendor_name, slave->type->product_name,
slave->type->description);
}
else {
EC_INFO("%2i) UNKNOWN SLAVE: 0x%08X 0x%08X\n",
slave->ring_position, slave->sii_vendor_id,
slave->sii_product_code);
}
return;
}
EC_INFO("x-- EtherCAT slave information ---------------\n");
if (slave->type) {
@ -920,101 +934,98 @@ void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT-Slave */
EC_INFO("| Ring position: %i, Station address: 0x%04X\n",
slave->ring_position, slave->station_address);
if (verbosity > 0) // Etwas geschwätziger
{
EC_INFO("| Data link status:\n");
for (i = 0; i < 2; i++) {
EC_INFO("| Port %i: link %s, loop %s, %s\n", i,
slave->dl_status_link[i] ? "up" : "down",
slave->dl_status_loop[i] ? "closed" : "open",
slave->dl_status_comm[i] ? "comm. establ." : "no comm.");
EC_INFO("| Data link status:\n");
for (i = 0; i < 2; i++) {
EC_INFO("| Port %i: link %s, loop %s, %s\n", i,
slave->dl_status_link[i] ? "up" : "down",
slave->dl_status_loop[i] ? "closed" : "open",
slave->dl_status_comm[i] ? "comm. establ." : "no comm.");
}
EC_INFO("| Base information:\n");
EC_INFO("| Type %u, Revision %i, Build %i\n",
slave->base_type, slave->base_revision, slave->base_build);
EC_INFO("| Supported FMMUs: %i, Sync managers: %i\n",
slave->base_fmmu_count, slave->base_sync_count);
if (slave->sii_mailbox_protocols) {
EC_INFO("| Mailbox communication:\n");
EC_INFO("| RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
EC_INFO("| Supported protocols: ");
first = 1;
if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
printk("AoE");
first = 0;
}
EC_INFO("| Base information:\n");
EC_INFO("| Type %u, Revision %i, Build %i\n",
slave->base_type, slave->base_revision, slave->base_build);
EC_INFO("| Supported FMMUs: %i, Sync managers: %i\n",
slave->base_fmmu_count, slave->base_sync_count);
if (slave->sii_mailbox_protocols) {
EC_INFO("| Mailbox communication:\n");
EC_INFO("| RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
EC_INFO("| Supported protocols: ");
first = 1;
if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
printk("AoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
if (!first) printk(", ");
printk("EoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
if (!first) printk(", ");
printk("CoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
if (!first) printk(", ");
printk("FoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
if (!first) printk(", ");
printk("SoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
if (!first) printk(", ");
printk("VoE");
}
printk("\n");
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
if (!first) printk(", ");
printk("EoE");
first = 0;
}
EC_INFO("| EEPROM data:\n");
if (slave->sii_alias)
EC_INFO("| Configured station alias: 0x%04X (%i)\n",
slave->sii_alias, slave->sii_alias);
EC_INFO("| Vendor-ID: 0x%08X, Product code: 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
EC_INFO("| Revision number: 0x%08X, Serial number: 0x%08X\n",
slave->sii_revision_number, slave->sii_serial_number);
if (slave->eeprom_name)
EC_INFO("| Name: %s\n", slave->eeprom_name);
if (slave->eeprom_group)
EC_INFO("| Group: %s\n", slave->eeprom_group);
if (slave->eeprom_desc)
EC_INFO("| Description: %s\n", slave->eeprom_desc);
if (!list_empty(&slave->eeprom_syncs)) {
EC_INFO("| Sync-Managers:\n");
list_for_each_entry(sync, &slave->eeprom_syncs, list) {
EC_INFO("| %i: 0x%04X, length %i, control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
sync->length, sync->control_register,
sync->enable ? "enable" : "disable");
}
if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
if (!first) printk(", ");
printk("CoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
if (!first) printk(", ");
printk("FoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
if (!first) printk(", ");
printk("SoE");
first = 0;
}
if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
if (!first) printk(", ");
printk("VoE");
}
printk("\n");
}
list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
EC_INFO("| %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
pdo->name ? pdo->name : "???",
pdo->index, pdo->sync_manager);
EC_INFO("| EEPROM data:\n");
list_for_each_entry(pdo_entry, &pdo->entries, list) {
EC_INFO("| \"%s\" 0x%04X:%X, %i Bit\n",
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->bit_length);
}
if (slave->sii_alias)
EC_INFO("| Configured station alias: 0x%04X (%i)\n",
slave->sii_alias, slave->sii_alias);
EC_INFO("| Vendor-ID: 0x%08X, Product code: 0x%08X\n",
slave->sii_vendor_id, slave->sii_product_code);
EC_INFO("| Revision number: 0x%08X, Serial number: 0x%08X\n",
slave->sii_revision_number, slave->sii_serial_number);
if (slave->eeprom_name)
EC_INFO("| Name: %s\n", slave->eeprom_name);
if (slave->eeprom_group)
EC_INFO("| Group: %s\n", slave->eeprom_group);
if (slave->eeprom_desc)
EC_INFO("| Description: %s\n", slave->eeprom_desc);
if (!list_empty(&slave->eeprom_syncs)) {
EC_INFO("| Sync-Managers:\n");
list_for_each_entry(sync, &slave->eeprom_syncs, list) {
EC_INFO("| %i: 0x%04X, length %i, control 0x%02X, %s\n",
sync->index, sync->physical_start_address,
sync->length, sync->control_register,
sync->enable ? "enable" : "disable");
}
}
list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
EC_INFO("| %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
pdo->name ? pdo->name : "???",
pdo->index, pdo->sync_manager);
list_for_each_entry(pdo_entry, &pdo->entries, list) {
EC_INFO("| \"%s\" 0x%04X:%X, %i Bit\n",
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->bit_length);
}
}

2
mini/Makefile
View File

@ -33,7 +33,7 @@ KERNELDIR = /usr/src/linux
endif
modules:
$(MAKE) -C $(KERNELDIR) M=`pwd` modules
$(MAKE) -C $(KERNELDIR) M=`pwd`
clean:
$(MAKE) -C $(KERNELDIR) M=`pwd` clean

17
mini/mini.c
View File

@ -1,10 +1,10 @@
/******************************************************************************
*
* m i n i . c
* m i n i . c
*
* Minimalmodul für EtherCAT
* Minimalmodul für EtherCAT
*
* $Id$
* $Id$
*
*****************************************************************************/
@ -36,11 +36,8 @@ uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
{NULL, "1", "Beckhoff", "EL1014", "InputValue", 0},
{NULL, "2", "Beckhoff", "EL2004", "OutputValue", 0},
//{NULL, "3", "Beckhoff", "EL3162", "InputValue", 0},
{NULL, "4", "Beckhoff", "EL4132", "OutputValue", 0},
{NULL, "6", "Beckhoff", "EL5001", "InputValue", 0},
{NULL, "1", "Beckhoff", "EL5001", "InputValue", 0},
{NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
{}
};
@ -61,10 +58,12 @@ void run(unsigned long data)
// Prozessdaten senden
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_async_send(master);
#else
// Prozessdaten senden und empfangen
ecrt_domain_queue(domain1);
ecrt_master_run(master);
ecrt_master_sync_io(master);
ecrt_domain_process(domain1);
@ -170,8 +169,10 @@ int __init init_mini_module(void)
printk(KERN_INFO "=== Minimal EtherCAT environment started. ===\n");
return 0;
#if 0
out_deactivate:
ecrt_master_deactivate(master);
#endif
out_release_master:
ecrt_release_master(master);
out_return: