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ethercat
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Better calc. of coupler address; coupler address in SysFS; better output of ec_list

This commit is contained in:
Florian Pose 2006-04-11 14:12:01 +00:00
parent 269419fc07
commit ad6b1732d6
5 changed files with 56 additions and 47 deletions
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44
master/master.c
View File

@ -455,7 +455,8 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)
unsigned int i;
ec_command_t *command;
ec_eoe_t *eoe;
uint16_t buscoupler_index, index_after_buscoupler;
uint16_t coupler_index, coupler_subindex;
uint16_t reverse_coupler_index, current_coupler_index;
if (!list_empty(&master->slaves)) {
EC_ERR("Slave scan already done!\n");
@ -490,8 +491,10 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)
list_add_tail(&slave->list, &master->slaves);
}
buscoupler_index = 0xFFFF;
index_after_buscoupler = 0;
coupler_index = 0;
reverse_coupler_index = 0xFFFF;
current_coupler_index = 0x3FFF;
coupler_subindex = 0;
// For every slave on the bus
list_for_each_entry(slave, &master->slaves, list) {
@ -520,20 +523,22 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT-Master */)
ident++;
}
if (!slave->type)
if (!slave->type) {
EC_WARN("Unknown slave device (vendor 0x%08X, code 0x%08X) at"
" position %i.\n", slave->sii_vendor_id,
slave->sii_product_code, i);
else {
if (slave->type->special == EC_TYPE_BUS_COUPLER) {
buscoupler_index++;
index_after_buscoupler = 0;
}
}
else if (slave->type->special == EC_TYPE_BUS_COUPLER) {
if (slave->sii_alias)
current_coupler_index = reverse_coupler_index--;
else
current_coupler_index = coupler_index++;
coupler_subindex = 0;
}
slave->buscoupler_index = buscoupler_index;
slave->index_after_buscoupler = index_after_buscoupler;
index_after_buscoupler++;
slave->coupler_index = current_coupler_index;
slave->coupler_subindex = coupler_subindex;
coupler_subindex++;
// Does the slave support EoE?
if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
@ -679,10 +684,15 @@ ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
}
if (alias_requested) {
if (!alias_slave->type ||
alias_slave->type->special != EC_TYPE_BUS_COUPLER) {
EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
" in colon mode.\n", address);
return NULL;
}
list_for_each_entry(slave, &master->slaves, list) {
if (slave->buscoupler_index == alias_slave->buscoupler_index
&& alias_slave->index_after_buscoupler == 0
&& slave->index_after_buscoupler == second)
if (slave->coupler_index == alias_slave->coupler_index
&& slave->coupler_subindex == second)
return slave;
}
EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
@ -692,8 +702,8 @@ ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
}
else {
list_for_each_entry(slave, &master->slaves, list) {
if (slave->buscoupler_index == first
&& slave->index_after_buscoupler == second) return slave;
if (slave->coupler_index == first
&& slave->coupler_subindex == second) return slave;
}
}
}

13
master/slave.c
View File

@ -29,7 +29,7 @@ ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
/*****************************************************************************/
EC_SYSFS_READ_ATTR(ring_position);
EC_SYSFS_READ_ATTR(station_address);
EC_SYSFS_READ_ATTR(coupler_address);
EC_SYSFS_READ_ATTR(vendor_name);
EC_SYSFS_READ_ATTR(product_name);
EC_SYSFS_READ_ATTR(product_desc);
@ -37,7 +37,7 @@ EC_SYSFS_READ_ATTR(type);
static struct attribute *def_attrs[] = {
&attr_ring_position,
&attr_station_address,
&attr_coupler_address,
&attr_vendor_name,
&attr_product_name,
&attr_product_desc,
@ -89,8 +89,8 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
}
slave->master = master;
slave->buscoupler_index = 0;
slave->index_after_buscoupler = 0xFFFF;
slave->coupler_index = 0;
slave->coupler_subindex = 0xFFFF;
slave->base_type = 0;
slave->base_revision = 0;
slave->base_build = 0;
@ -1211,8 +1211,9 @@ ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< KObject */
if (attr == &attr_ring_position) {
return sprintf(buffer, "%i\n", slave->ring_position);
}
else if (attr == &attr_station_address) {
return sprintf(buffer, "%i\n", slave->station_address);
else if (attr == &attr_coupler_address) {
return sprintf(buffer, "%i:%i\n", slave->coupler_index,
slave->coupler_subindex);
}
else if (attr == &attr_vendor_name) {
if (slave->type)

4
master/slave.h
View File

@ -196,8 +196,8 @@ struct ec_slave
// Addresses
uint16_t ring_position; /**< Position des Slaves im Bus */
uint16_t station_address; /**< Konfigurierte Slave-Adresse */
uint16_t buscoupler_index; /**< Letzter Buskoppler */
uint16_t index_after_buscoupler; /**< Index hinter letztem Buskoppler */
uint16_t coupler_index; /**< Letzter Buskoppler */
uint16_t coupler_subindex; /**< Index hinter letztem Buskoppler */
// Base data
uint8_t base_type; /**< Slave-Typ */

17
rt/msr_rt.c
View File

@ -62,8 +62,8 @@ uint32_t k_ssi;
uint32_t k_ssi_st;
ec_field_init_t domain1_fields[] = {
{&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0},
{&r_ssi_st, "5", "Beckhoff", "EL5001", "Status", 0},
{&r_ssi, "0:3", "Beckhoff", "EL5001", "InputValue", 0},
{&r_ssi_st, "0:3", "Beckhoff", "EL5001", "Status", 0},
{}
};
@ -183,7 +183,7 @@ int __init init_rt_module(void)
#endif
#if 1
if (!(slave = ecrt_master_get_slave(master, "5"))) {
if (!(slave = ecrt_master_get_slave(master, "0:3"))) {
printk(KERN_ERR "Failed to get slave!\n");
goto out_deactivate;
}
@ -205,6 +205,17 @@ int __init init_rt_module(void)
}
#endif
#if 0
if (!(slave = ecrt_master_get_slave(master, "1:0"))) {
printk(KERN_ERR "Failed to get slave!\n");
goto out_deactivate;
}
if (ecrt_slave_write_alias(slave, 0x5678)) {
printk(KERN_ERR "Failed to write alias!\n");
goto out_deactivate;
}
#endif
#ifdef ASYNC
// Einmal senden und warten...
ecrt_master_prepare_async_io(master);

25
tools/ec_list.pl
View File

@ -42,6 +42,7 @@ sub query_slaves
my $vendor_name;
my @slaves;
my $slave;
my $abs;
unless (opendir $dirhandle, $master_dir) {
print "Failed to open directory \"$master_dir\".\n";
@ -55,8 +56,8 @@ sub query_slaves
$slave = {};
$slave->{'ring_position'} =
&read_integer("$slave_dir/ring_position");
$slave->{'station_address'} =
&read_integer("$slave_dir/station_address");
$slave->{'coupler_address'} =
&read_string("$slave_dir/coupler_address");
$slave->{'vendor_name'} =
&read_string("$slave_dir/vendor_name");
$slave->{'product_name'} =
@ -72,31 +73,17 @@ sub query_slaves
@slaves = sort { $a->{'ring_position'} <=> $b->{'ring_position'} } @slaves;
my $coupler_index = -1;
my $slave_index = 0;
my $abs;
my $rel;
print "EtherCAT bus listing for master $master_index:\n";
for $slave (@slaves) {
if ($slave->{'type'} eq "coupler") {
print "--------------------------------------------------------\n";
$coupler_index++;
$slave_index = 0;
}
$abs = sprintf "%i", $slave->{'ring_position'};
$rel = sprintf "%i:%i", $coupler_index, $slave_index;
printf("%4s %6s %-15s %-15s %-15s\n", $abs, $rel,
$slave->{'vendor_name'}, $slave->{'product_name'},
$slave->{'product_desc'});
if ($slave->{'type'} eq "coupler") {
print "--------------------------------------------------------\n";
}
$slave_index++;
printf(" %3s %8s %-12s %-10s %s\n", $abs,
$slave->{'coupler_address'}, $slave->{'vendor_name'},
$slave->{'product_name'}, $slave->{'product_desc'});
}
print "--------------------------------------------------------\n";
}
#------------------------------------------------------------------------------