Added ecrt_master_slave().
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Florian Pose
parent
8c76942245
commit
ae9d759622
1
NEWS
1
NEWS
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@ -22,6 +22,7 @@ Changes since 1.4.0:
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* Implemented the File Access over EtherCAT (FoE) mailbox protocol.
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* Going to the Bootstrap state is now supported by the state machines and the
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command-line tool.
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* Introduced ecrt_master_slave() to get information about a certain slave.
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Changes in 1.4.0:
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1
TODO
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TODO
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@ -24,6 +24,7 @@ Version 1.5.0:
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* C++ implementation of the library.
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* Distributed clocks.
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* Bus simulator interface.
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* Implement ecrt_master_slave() in kernel space.
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Future issues:
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@ -1,27 +1,27 @@
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/******************************************************************************
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*
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* $Id$
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* $Id$
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*
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT master userspace library.
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*
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* The IgH EtherCAT master userspace library is free software; you can
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* redistribute it and/or modify it under the terms of the GNU Lesser General
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* Public License as published by the Free Software Foundation; version 2.1 of
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* the License.
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* This file is part of the IgH EtherCAT master userspace library.
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*
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* The IgH EtherCAT master userspace library is free software; you can
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* redistribute it and/or modify it under the terms of the GNU Lesser General
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* Public License as published by the Free Software Foundation; version 2.1
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* of the License.
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*
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* The IgH EtherCAT master userspace library is distributed in the hope that
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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* The IgH EtherCAT master userspace library is distributed in the hope that
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with the IgH EtherCAT master userspace library. If not, see
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* <http://www.gnu.org/licenses/>.
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*
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* Using the EtherCAT technology and brand is permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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* You should have received a copy of the GNU Lesser General Public License
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* along with the IgH EtherCAT master userspace library. If not, see
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* <http://www.gnu.org/licenses/>.
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*
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* Using the EtherCAT technology and brand is permitted in compliance with
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* the industrial property and similar rights of Beckhoff Automation GmbH.
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*
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*****************************************************************************/
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@ -40,6 +40,11 @@
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*
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* - Changed the meaning of the negative return values of
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* ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
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* - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
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* ecrt_slave_config_create_voe_handler().
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* - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also
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* used by VoE handlers.
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* - Added ecrt_master_slave() to get information about a certain slave.
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*
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* Changes in Version 1.4:
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*
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@ -134,6 +139,12 @@
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*/
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#define EC_MAX_SYNC_MANAGERS 16
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/** Maximum string length.
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*
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* Used in ec_slave_info_t.
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*/
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#define EC_MAX_STRING_LENGTH 64
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/******************************************************************************
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* Data types
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*****************************************************************************/
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@ -199,6 +210,29 @@ typedef struct {
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/*****************************************************************************/
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/** Slave information.
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*
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* This is used as an output parameter of ecrt_master_slave().
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*
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* \see ecrt_master_slave().
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*/
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typedef struct {
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uint16_t position; /**< Offset of the slave in the ring. */
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uint32_t vendor_id; /**< Vendor-ID stored on the slave. */
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uint32_t product_code; /**< Product-Code stored on the slave. */
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uint32_t revision_number; /**< Revision-Number stored on the slave. */
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uint32_t serial_number; /**< Serial-Number stored on the slave. */
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uint16_t alias; /**< The slaves alias if not equal to 0. */
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int16_t current_on_ebus;
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uint8_t al_state; /**< Current state of the slave. */
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uint8_t error_flag; /**< Error flag for that slave. */
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uint8_t sync_count; /**< Number of sync managers. */
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uint16_t sdo_count; /**< Number of SDO's. */
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char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */
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} ec_slave_info_t;
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/*****************************************************************************/
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/** Domain working counter interpretation.
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*
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* This is used in ec_domain_state_t.
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@ -433,6 +467,23 @@ ec_slave_config_t *ecrt_master_slave_config(
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uint32_t product_code /**< Expected product code. */
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);
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/** Obtains slave information.
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*
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* Tries to find the slave with the given ring position. The obtained
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* information is stored in a structure. No memory is allocated on the heap in
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* this function.
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*
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* \attention The pointer to this structure must point to a valid variable.
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*
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* \return 0 in case of success, else < 0
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*/
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int ecrt_master_slave(
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ec_master_t *master, /**< EtherCAT master */
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uint16_t position, /**< Slave position. */
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ec_slave_info_t *slave_info /**< Structure that will output the
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information */
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);
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/** Finishes the configuration phase and prepares for cyclic operation.
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*
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* This function tells the master that the configuration phase is finished and
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32
lib/master.c
32
lib/master.c
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@ -100,6 +100,38 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
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/*****************************************************************************/
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int ecrt_master_slave(ec_master_t *master, uint16_t position,
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ec_slave_info_t *slave_info)
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{
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ec_ioctl_slave_t data;
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int index;
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data.position = position;
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if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
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fprintf(stderr, "Failed to get slave info: %s\n",
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strerror(errno));
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return -1;
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}
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slave_info->position = data.position;
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slave_info->vendor_id = data.vendor_id;
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slave_info->product_code = data.product_code;
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slave_info->revision_number = data.revision_number;
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slave_info->serial_number = data.serial_number;
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slave_info->alias = data.alias;
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slave_info->current_on_ebus = data.current_on_ebus;
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slave_info->al_state = data.al_state;
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slave_info->error_flag = data.error_flag;
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slave_info->sync_count = data.sync_count;
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slave_info->sdo_count = data.sdo_count;
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strncpy(slave_info->name, data.name, EC_IOCTL_STRING_SIZE);
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return 0;
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}
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/*****************************************************************************/
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int ecrt_master_activate(ec_master_t *master)
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{
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if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
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