# HG changeset patch # User Florian Pose # Date 1213608658 0 # Node ID 6012e1414beccd301a7a03a138684284d8836fc9 # Parent bfa040859b56720318082535733a6ef555dea1aa Added revision number to slave type checking. diff -r bfa040859b56 -r 6012e1414bec include/ecrt.h --- a/include/ecrt.h Thu Jun 12 13:42:52 2008 +0000 +++ b/include/ecrt.h Mon Jun 16 09:30:58 2008 +0000 @@ -246,6 +246,7 @@ uint16_t position; /**< Slave position. */ uint32_t vendor_id; /**< Slave vendor ID. */ uint32_t product_code; /**< Slave product code. */ + uint32_t revision_number; /**< Slave revision number. */ uint16_t index; /**< Pdo entry index. */ uint8_t subindex; /**< Pdo entry subindex. */ unsigned int *offset; /**< Pointer to a variable to store the Pdo entry's @@ -350,7 +351,8 @@ uint16_t alias, /**< Slave alias. */ uint16_t position, /**< Slave position. */ uint32_t vendor_id, /**< Expected vendor ID. */ - uint32_t product_code /**< Expected product code. */ + uint32_t product_code, /**< Expected product code. */ + uint32_t revision_number /**< Expected revision number. */ ); /** Finishes the configuration phase and prepares for realtime mode. diff -r bfa040859b56 -r 6012e1414bec master/domain.c --- a/master/domain.c Thu Jun 12 13:42:52 2008 +0000 +++ b/master/domain.c Mon Jun 16 09:30:58 2008 +0000 @@ -320,7 +320,8 @@ for (reg = regs; reg->index; reg++) { if (!(sc = ecrt_master_slave_config(domain->master, reg->alias, - reg->position, reg->vendor_id, reg->product_code))) + reg->position, reg->vendor_id, reg->product_code, + reg->revision_number))) return -1; if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index, diff -r bfa040859b56 -r 6012e1414bec master/master.c --- a/master/master.c Thu Jun 12 13:42:52 2008 +0000 +++ b/master/master.c Mon Jun 16 09:30:58 2008 +0000 @@ -1287,7 +1287,7 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, uint16_t alias, uint16_t position, uint32_t vendor_id, - uint32_t product_code) + uint32_t product_code, uint32_t revision_number) { ec_slave_config_t *sc; unsigned int found = 0; @@ -1304,18 +1304,21 @@ EC_INFO("Using existing slave configuration for %u:%u\n", alias, position); } - if (sc->vendor_id != vendor_id || sc->product_code != product_code) { + if (sc->vendor_id != vendor_id + || sc->product_code != product_code + || sc->revision_number != revision_number) { EC_ERR("Slave type mismatch. Slave was configured as" - " 0x%08X/0x%08X before. Now configuring with" - " 0x%08X/0x%08X.\n", sc->vendor_id, sc->product_code, - vendor_id, product_code); + " 0x%08X/0x%08X/0x%08X before. Now configuring with" + " 0x%08X/0x%08X/0x%08X.\n", + sc->vendor_id, sc->product_code, sc->revision_number, + vendor_id, product_code, revision_number); return NULL; } } else { if (master->debug_level) { EC_INFO("Creating slave configuration for %u:%u," - " 0x%08X/0x%08X.\n", alias, position, vendor_id, - product_code); + " 0x%08X/0x%08X/0x%08X.\n", alias, position, + vendor_id, product_code, revision_number); } if (!(sc = (ec_slave_config_t *) kmalloc(sizeof(ec_slave_config_t), @@ -1325,7 +1328,7 @@ } ec_slave_config_init(sc, master, - alias, position, vendor_id, product_code); + alias, position, vendor_id, product_code, revision_number); // try to find the addressed slave ec_slave_config_attach(sc); diff -r bfa040859b56 -r 6012e1414bec master/slave_config.c --- a/master/slave_config.c Thu Jun 12 13:42:52 2008 +0000 +++ b/master/slave_config.c Mon Jun 16 09:30:58 2008 +0000 @@ -58,7 +58,8 @@ uint16_t alias, /**< Slave alias. */ uint16_t position, /**< Slave position. */ uint32_t vendor_id, /**< Expected vendor ID. */ - uint32_t product_code /**< Expected product code. */ + uint32_t product_code, /**< Expected product code. */ + uint32_t revision_number /**< Expected revision number. */ ) { ec_direction_t dir; @@ -68,6 +69,7 @@ sc->position = position; sc->vendor_id = vendor_id; sc->product_code = product_code; + sc->revision_number = revision_number; sc->slave = NULL; for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) @@ -186,12 +188,14 @@ return -2; } if (slave->sii.vendor_id != sc->vendor_id - || slave->sii.product_code != sc->product_code) { - EC_ERR("Slave %u has an invalid type (0x%08X/0x%08X) for" - " configuration %u:%u (0x%08X/0x%08X).\n", - slave->ring_position, slave->sii.vendor_id, - slave->sii.product_code, sc->alias, sc->position, - sc->vendor_id, sc->product_code); + || slave->sii.product_code != sc->product_code + || slave->sii.revision_number != sc->revision_number) { + EC_ERR("Slave %u has an invalid type (0x%08X/0x%08X/0x%08X) for" + " configuration %u:%u (0x%08X/0x%08X/0x%08X).\n", + slave->ring_position, + slave->sii.vendor_id, slave->sii.product_code, + slave->sii.revision_number, sc->alias, sc->position, + sc->vendor_id, sc->product_code, sc->revision_number); return -3; } diff -r bfa040859b56 -r 6012e1414bec master/slave_config.h --- a/master/slave_config.h Thu Jun 12 13:42:52 2008 +0000 +++ b/master/slave_config.h Mon Jun 16 09:30:58 2008 +0000 @@ -63,6 +63,7 @@ ring position. */ uint32_t vendor_id; /**< Slave vendor ID. */ uint32_t product_code; /**< Slave product code. */ + uint32_t revision_number; /**< Slave revision number. */ ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is offline. */ @@ -79,7 +80,7 @@ /*****************************************************************************/ void ec_slave_config_init(ec_slave_config_t *, ec_master_t *, uint16_t, - uint16_t, uint32_t, uint32_t); + uint16_t, uint32_t, uint32_t, uint32_t); void ec_slave_config_clear(ec_slave_config_t *); int ec_slave_config_attach(ec_slave_config_t *);