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Feldregistrierung: NULL als data_ptr möglich, field_count 0 = 1.

This commit is contained in:
Florian Pose 2006-03-20 12:54:17 +00:00
parent 002ea06431
commit a63d1c52a4
3 changed files with 33 additions and 33 deletions
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33
master/domain.c
View File

@ -122,7 +122,7 @@ int ec_domain_alloc(ec_domain_t *domain, /**< Dom
ec_field_reg_t *field_reg;
ec_slave_t *slave;
ec_fmmu_t *fmmu;
unsigned int i, j, found;
unsigned int i, j;
uint32_t data_offset;
if (domain->data) {
@ -163,22 +163,15 @@ int ec_domain_alloc(ec_domain_t *domain, /**< Dom
// Alle Prozessdatenzeiger setzen
list_for_each_entry(field_reg, &domain->field_regs, list) {
found = 0;
for (i = 0; i < field_reg->slave->fmmu_count; i++) {
fmmu = &field_reg->slave->fmmus[i];
if (fmmu->domain == domain && fmmu->sync == field_reg->sync) {
data_offset = fmmu->logical_start_address - base_address
+ field_reg->field_offset;
*field_reg->data_ptr = domain->data + data_offset;
found = 1;
break;
}
}
if (!found) { // Sollte nie passieren
EC_ERR("FMMU not found. Please report!\n");
return -1;
}
}
// Kommando-Array erzeugen
@ -224,6 +217,12 @@ void ec_domain_response_count(ec_domain_t *domain, /**< Dom
/**
Registriert ein Datenfeld innerhalb einer Domäne.
- Ist \a data_ptr NULL, so wird der Slave nur auf den Typ überprüft.
- Wenn \a field_count 0 ist, wird angenommen, dass 1 Feld registriert werden
soll.
- Wenn \a field_count größer als 1 ist, wird angenommen, dass \a data_ptr
auf ein entsprechend großes Array zeigt.
\return Zeiger auf den Slave bei Erfolg, sonst NULL
*/
@ -257,11 +256,6 @@ ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
unsigned int field_counter, i, j, orig_field_index, orig_field_count;
uint32_t field_offset;
if (!field_count) {
EC_ERR("field_count may not be 0!\n");
return NULL;
}
master = domain->master;
// Adresse übersetzen
@ -281,6 +275,12 @@ ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
return NULL;
}
if (!data_ptr) {
// Wenn data_ptr NULL, Slave als registriert ansehen (nicht warnen).
slave->registered = 1;
}
if (!field_count) field_count = 1;
orig_field_index = field_index;
orig_field_count = field_count;
@ -292,8 +292,9 @@ ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
field = sync->fields[j];
if (!strcmp(field->name, field_name)) {
if (field_counter++ == field_index) {
ec_domain_reg_field(domain, slave, sync, field_offset,
data_ptr++);
if (data_ptr)
ec_domain_reg_field(domain, slave, sync, field_offset,
data_ptr++);
if (!(--field_count)) return slave;
field_index++;
}
@ -326,7 +327,7 @@ int ecrt_domain_register_field_list(ec_domain_t *domain,
{
ec_field_init_t *field;
for (field = fields; field->data_ptr; field++)
for (field = fields; field->slave_address; field++)
if (!ecrt_domain_register_field(domain, field->slave_address,
field->vendor_name,
field->product_name, field->data_ptr,

29
mini/mini.c
View File

@ -29,25 +29,23 @@ ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// Datenfelder
void *r_ssi_input, *r_ssi_status;
void *r_field[9];
void *r_4102[3];
void *r_ssi_input, *r_ssi_status, *r_4102[3];
// Kanäle
uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
{&r_ssi_input, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
{&r_ssi_status, "1", "Beckhoff", "EL5001", "Status", 0, 1},
{&r_field[1], "2", "Beckhoff", "EL4132", "OutputValue", 0, 1},
{&r_field[2], "3", "Beckhoff", "EL3162", "InputValue", 0, 1},
{&r_ssi_input, "1", "Beckhoff", "EL5001", "InputValue", 0},
{&r_ssi_status, "1", "Beckhoff", "EL5001", "Status", 0},
{NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
{NULL, "3", "Beckhoff", "EL3162", "InputValue", 0},
{r_4102, "4", "Beckhoff", "EL4102", "OutputValue", 0, 2},
{&r_field[4], "5", "Beckhoff", "EL5001", "InputValue", 0, 1},
{&r_field[5], "6", "Beckhoff", "EL1014", "InputValue", 0, 1},
{&r_field[6], "7", "Beckhoff", "EL2004", "OutputValue", 0, 1},
{&r_field[7], "8", "Beckhoff", "EL4132", "OutputValue", 0, 1},
{&r_field[8], "9", "Beckhoff", "EL4132", "OutputValue", 0, 1},
{NULL, "5", "Beckhoff", "EL5001", "InputValue", 0},
{NULL, "6", "Beckhoff", "EL1014", "InputValue", 0},
{NULL, "7", "Beckhoff", "EL2004", "OutputValue", 0},
{NULL, "8", "Beckhoff", "EL4132", "OutputValue", 0},
{NULL, "9", "Beckhoff", "EL4132", "OutputValue", 0},
{}
};
@ -58,7 +56,7 @@ void run(unsigned long data)
static unsigned int counter = 0;
#ifdef ASYNC
// Prozessdaten emfpangen
// Prozessdaten empfangen
ecrt_master_async_receive(master);
ecrt_domain_process(domain1);
@ -70,13 +68,14 @@ void run(unsigned long data)
ecrt_domain_queue(domain1);
ecrt_master_async_send(master);
#else
// Prozessdaten senden und emfpangen
// Prozessdaten senden und empfangen
ecrt_domain_queue(domain1);
ecrt_master_sync_io(master);
ecrt_domain_process(domain1);
// Prozessdaten verarbeiten
k_pos = EC_READ_U32(r_ssi);
k_pos = EC_READ_U32(r_ssi_input);
k_stat = EC_READ_U8(r_ssi_status);
#endif
if (counter) {

4
rt/msr_module.c
View File

@ -66,12 +66,12 @@ uint32_t k_postio;
uint32_t k_finished;
ec_field_init_t domain1_fields[] = {
{&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
{&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0},
{}
};
ec_field_init_t domain2_fields[] = {
{&r_ssi2, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
{&r_ssi2, "1", "Beckhoff", "EL5001", "InputValue", 0},
{}
};