Bus topology calculation.

master/cdev.c

@@ -262,6 +262,11 @@ int ec_cdev_ioctl_slave(
         data.ports[i].dl_loop = slave->ports[i].dl_loop;
         data.ports[i].dl_signal = slave->ports[i].dl_signal;
         data.dc_receive_times[i] = slave->dc_receive_times[i];
+        if (slave->next_slave[i]) {
+            data.next_slave[i] = slave->next_slave[i]->ring_position;
+        } else {
+            data.next_slave[i] = 0xffff;
+        }
     }
     data.fmmu_bit = slave->base_fmmu_bit_operation;
     data.dc_supported = slave->base_dc_supported;

master/fsm_master.c

@@ -867,6 +867,9 @@ void ec_fsm_master_state_scan_slave(
 
 	// find DC reference clock
 	ec_master_find_dc_ref_clock(master);
+
+    // calculate bus topology
+    ec_master_calc_topology(master);
 	
     // Attach slave configurations
     ec_master_attach_slave_configs(master);

master/ioctl.h

@@ -167,6 +167,7 @@ typedef struct {
     int16_t current_on_ebus;
     ec_slave_port_desc_t port_descs[EC_MAX_PORTS];
     ec_slave_port_t ports[EC_MAX_PORTS];
+    uint16_t next_slave[EC_MAX_PORTS];
     uint8_t fmmu_bit;
     uint8_t dc_supported;
     ec_slave_dc_range_t dc_range;

master/master.c

@@ -1373,6 +1373,57 @@ void ec_master_find_dc_ref_clock(
 	ec_datagram_frmw(&master->sync_datagram, ref_clock_addr, 0x0910, 4);
 }
 
+/*****************************************************************************/
+
+/** Calculates the bus topology; recursion function.
+ */
+int ec_master_calc_topology_rec(
+        ec_master_t *master, /**< EtherCAT master. */
+        ec_slave_t *port0_slave, /**< Slave at port 0. */
+        unsigned int *slave_position /**< Slave position. */
+		)
+{
+    ec_slave_t *slave = master->slaves + *slave_position;
+    unsigned int i;
+    int ret;
+
+    slave->next_slave[0] = port0_slave;
+
+    for (i = 1; i < EC_MAX_PORTS; i++) {
+        if (!slave->ports[i].dl_loop) {
+            *slave_position = *slave_position + 1;
+            if (*slave_position < master->slave_count) {
+                slave->next_slave[i] = master->slaves + *slave_position;
+                ret = ec_master_calc_topology_rec(master,
+                        slave, slave_position);
+                if (ret)
+                    return ret;
+            } else {
+                return -1;
+            }
+        }
+    }
+
+    return 0;
+}
+
+/*****************************************************************************/
+
+/** Calculates the bus topology.
+ */
+void ec_master_calc_topology(
+        ec_master_t *master /**< EtherCAT master. */
+		)
+{
+    unsigned int slave_position = 0;
+
+    if (master->slave_count == 0)
+        return;
+
+    if (ec_master_calc_topology_rec(master, NULL, &slave_position))
+        EC_ERR("Failed to calculate bus topology.\n");
+}
+
 /******************************************************************************
  *  Application interface
  *****************************************************************************/

master/master.h

@@ -234,6 +234,7 @@ ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,
         uint16_t, uint32_t, uint32_t);
 
 void ec_master_find_dc_ref_clock(ec_master_t *);
+void ec_master_calc_topology(ec_master_t *);
 
 /*****************************************************************************/
 

master/slave.c

@@ -97,6 +97,8 @@ void ec_slave_init(
         slave->sii.physical_layer[i] = 0xFF;
 
         slave->dc_receive_times[i] = 0U;
+
+        slave->next_slave[i] = NULL;
     }
 
     slave->base_fmmu_bit_operation = 0;

master/slave.h

@@ -131,6 +131,7 @@ struct ec_slave
 
     // data link status
     ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */
+    ec_slave_t *next_slave[EC_MAX_PORTS]; /**< Connected slaves. */
 
     // SII
     uint16_t *sii_words; /**< Complete SII image. */

tool/CommandSlaves.cpp

@@ -266,7 +266,7 @@ void CommandSlaves::showSlaves(
             cout << "no" << endl;
         }
 
-        cout << "Port  Type  Link  Loop    Signal";
+        cout << "Port  Type  Link  Loop    Signal  NextSlave";
         if (si->dc_supported)
             cout << "  RxTime      Diff";
         cout << endl;
@@ -294,11 +294,18 @@ void CommandSlaves::showSlaves(
                 << (si->ports[i].dl_link ? "up" : "down")
                 << "  " << setw(6)
                 << (si->ports[i].dl_loop ? "closed" : "open")
-                << "  " << setw(3)
-                << (si->ports[i].dl_signal ? "yes" : "no");
+                << "  " << setw(6)
+                << (si->ports[i].dl_signal ? "yes" : "no")
+                << "  " << setw(9) << right;
+
+            if (si->next_slave[i] != 0xffff) {
+                cout << dec << si->next_slave[i];
+            } else {
+                cout << "-";
+            }
             
             if (si->dc_supported) {
-                cout << "     " << setw(10) << right;
+                cout << "  " << setw(10) << right;
                 if (si->ports[i].dl_signal) {
                     cout << dec << si->dc_receive_times[i];
                 } else {