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ethercat
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Buskoppler werden jetzt gesondert behandelt.

This commit is contained in:
Florian Pose 2006-02-24 13:54:27 +00:00
parent 52aaf39561
commit cbcf404f96
4 changed files with 34 additions and 32 deletions
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5
master/master.c
View File

@ -335,8 +335,7 @@ ec_slave_t *ec_address(const ec_master_t *master,
slave = master->slaves + i;
if (!slave->type) continue;
if (strcmp(slave->type->vendor_name, "Beckhoff") == 0 &&
strcmp(slave->type->product_name, "EK1100") == 0) {
if (slave->type->bus_coupler) {
coupler_idx++;
slave_idx = 0;
}
@ -543,7 +542,7 @@ int EtherCAT_rt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
// Slaves that are not registered are only brought into PREOP
// state -> nice blinking and mailbox comm. possible
if (!slave->registered) {
if (!slave->registered && !slave->type->bus_coupler) {
printk(KERN_WARNING "EtherCAT: Slave %i was not registered!\n",
slave->ring_position);
continue;

22
master/types.c
View File

@ -25,14 +25,14 @@ const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1100 = {
"Beckhoff", "EK1100", "Bus Coupler",
"Beckhoff", "EK1100", "Bus Coupler", 1,
{NULL} // Keine Sync-Manager
};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1110 = {
"Beckhoff", "EK1110", "Extension terminal",
"Beckhoff", "EK1110", "Extension terminal", 0,
{NULL} // Keine Sync-Manager
};
@ -46,7 +46,7 @@ const ec_sync_t el1014_sm0 = { // Inputs
};
const ec_slave_type_t Beckhoff_EL1014 = {
"Beckhoff", "EL1014", "4x Digital Input",
"Beckhoff", "EL1014", "4x Digital Input", 0,
{&el1014_sm0, NULL}
};
@ -60,12 +60,12 @@ const ec_sync_t el20XX_sm0 = {
};
const ec_slave_type_t Beckhoff_EL2004 = {
"Beckhoff", "EL2004", "4x Digital Output",
"Beckhoff", "EL2004", "4x Digital Output", 0,
{&el20XX_sm0, NULL}
};
const ec_slave_type_t Beckhoff_EL2032 = {
"Beckhoff", "EL2032", "2x Digital Output (2A)",
"Beckhoff", "EL2032", "2x Digital Output (2A)", 0,
{&el20XX_sm0, NULL}
};
@ -87,12 +87,12 @@ const ec_sync_t el31X2_sm3 = {
};
const ec_slave_type_t Beckhoff_EL3102 = {
"Beckhoff", "EL3102", "2x Analog Input diff.",
"Beckhoff", "EL3102", "2x Analog Input diff.", 0,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
const ec_slave_type_t Beckhoff_EL3162 = {
"Beckhoff", "EL3102", "2x Analog Input",
"Beckhoff", "EL3102", "2x Analog Input", 0,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
@ -106,12 +106,12 @@ const ec_sync_t el41X2_sm2 = {
};
const ec_slave_type_t Beckhoff_EL4102 = {
"Beckhoff", "EL4102", "2x Analog Output",
"Beckhoff", "EL4102", "2x Analog Output", 0,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
const ec_slave_type_t Beckhoff_EL4132 = {
"Beckhoff", "EL4132", "2x Analog Output diff.",
"Beckhoff", "EL4132", "2x Analog Output diff.", 0,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
@ -131,7 +131,7 @@ const ec_sync_t el5001_sm3 = {
};
const ec_slave_type_t Beckhoff_EL5001 = {
"Beckhoff", "EL5001", "SSI-Interface",
"Beckhoff", "EL5001", "SSI-Interface", 0,
{&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL}
};
@ -155,7 +155,7 @@ const ec_sync_t el5101_sm3 = {
const ec_slave_type_t Beckhoff_EL5101 =
{
"Beckhoff", "EL5101", "Incremental Encoder Interface",
"Beckhoff", "EL5101", "Incremental Encoder Interface", 0,
{&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL}
};

3
master/types.h
View File

@ -63,6 +63,9 @@ typedef struct ec_slave_type
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
const char *description; /**< Genauere Beschreibung des Slave-Typs */
uint8_t bus_coupler; /**< Dieser Typ ist ein Buskoppler. Diese dienen als
Anker für die Adressierung und müssen nicht
registriert werden. */
const ec_sync_t *sync_managers[EC_MAX_SYNC]; /**< Sync-Manager
Konfigurationen */
}

36
rt/msr_module.c
View File

@ -52,17 +52,15 @@ ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// Prozessdaten
uint8_t *dig_out1;
uint16_t *ssi_value;
uint16_t *inc_value;
void *r_ssi;
void *r_inc;
uint32_t angle0;
uint32_t k_angle;
uint32_t k_pos;
ec_field_init_t domain1_fields[] = {
{},
{(void **) &ssi_value, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{(void **) &dig_out1, "2", "Beckhoff", "EL2004", ec_opvalue, 0, 1},
{(void **) &inc_value, "0:4", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
{(void **) &r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
{(void **) &r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
{}
};
@ -73,7 +71,18 @@ static void msr_controller_run(void)
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(domain1);
//angle0 = (uint32_t) *inc_value;
k_angle = EC_READ_U16(r_inc);
k_pos = EC_READ_U32(r_ssi);
}
/*****************************************************************************/
int msr_globals_register(void)
{
msr_reg_kanal("/angle0", "", &k_angle, TUINT);
msr_reg_kanal("/pos0", "", &k_pos, TUINT);
return 0;
}
/*****************************************************************************/
@ -106,15 +115,6 @@ void domain_entry(void)
/*****************************************************************************/
int msr_globals_register(void)
{
msr_reg_kanal("/angle0", "", &angle0, TUINT);
return 0;
}
/*****************************************************************************/
int __init init_rt_module(void)
{
struct ipipe_domain_attr attr; //ipipe