# HG changeset patch # User Florian Pose # Date 1143628213 0 # Node ID 7e743a61a9911e6ef81842d3a71c6d0106bdf0d3 # Parent 3fb18812871a0ecaac7061892840ccdb6801a5b3 SDO-Schnittstelle verbessert. diff -r 3fb18812871a -r 7e743a61a991 include/ecrt.h --- a/include/ecrt.h Tue Mar 28 17:40:57 2006 +0000 +++ b/include/ecrt.h Wed Mar 29 10:30:13 2006 +0000 @@ -50,34 +50,21 @@ // Master methods ec_domain_t *ecrt_master_create_domain(ec_master_t *master); + int ecrt_master_activate(ec_master_t *master); void ecrt_master_deactivate(ec_master_t *master); + int ecrt_master_fetch_sdo_lists(ec_master_t *master); + void ecrt_master_sync_io(ec_master_t *master); void ecrt_master_async_send(ec_master_t *master); void ecrt_master_async_receive(ec_master_t *master); void ecrt_master_prepare_async_io(ec_master_t *master); + void ecrt_master_debug(ec_master_t *master, int level); void ecrt_master_print(const ec_master_t *master); -int ecrt_master_sdo_exp_write(ec_master_t *master, - const char *slave_addr, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t value, - size_t size); -int ecrt_master_sdo_exp_read(ec_master_t *master, - const char *slave_addr, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t *value); -int ecrt_master_sdo_read(ec_master_t *master, - const char *slave_addr, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint8_t *data, - size_t *size); -int ecrt_master_write_slave_alias(ec_master_t *master, - const char *slave_address, uint16_t alias); + +ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *); /*****************************************************************************/ // Domain Methods @@ -86,12 +73,12 @@ const char *address, const char *vendor_name, const char *product_name, - void **data_ptr, - const char *field_name, + void **data_ptr, const char *field_name, unsigned int field_index, unsigned int field_count); int ecrt_domain_register_field_list(ec_domain_t *domain, ec_field_init_t *fields); + void ecrt_domain_queue(ec_domain_t *domain); void ecrt_domain_process(ec_domain_t *domain); int ecrt_domain_state(ec_domain_t *domain); @@ -99,20 +86,22 @@ /*****************************************************************************/ // Slave Methods -int ecrt_slave_sdo_exp_write(ec_slave_t *slave, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t value, - size_t size); -int ecrt_slave_sdo_exp_read(ec_slave_t *slave, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t *value); -int ecrt_slave_sdo_read(ec_slave_t *slave, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint8_t *data, - size_t *size); +int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint8_t *value); +int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint16_t *value); +int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint32_t *value); +int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint8_t value); +int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint16_t value); +int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint32_t value); +int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index, + uint8_t sdo_subindex, uint8_t *data, size_t *size); + +int ecrt_slave_write_alias(ec_slave_t *slave, uint16_t alias); /*****************************************************************************/ // Bitwise read/write macros diff -r 3fb18812871a -r 7e743a61a991 master/canopen.c --- a/master/canopen.c Tue Mar 28 17:40:57 2006 +0000 +++ b/master/canopen.c Wed Mar 29 10:30:13 2006 +0000 @@ -16,6 +16,11 @@ /*****************************************************************************/ +void ec_canopen_abort_msg(uint32_t); +int ec_slave_fetch_sdo_descriptions(ec_slave_t *); + +/*****************************************************************************/ + /** SDO Abort Code Messages */ @@ -29,40 +34,35 @@ const ec_sdo_abort_message_t sdo_abort_messages[]; -void ec_canopen_abort_msg(uint32_t); -int ec_slave_fetch_sdo_descriptions(ec_slave_t *); - -/*****************************************************************************/ - -/** - Schreibt ein CANopen-SDO (service data object), expedited. - */ - -int ecrt_slave_sdo_exp_write(ec_slave_t *slave, /**< EtherCAT-Slave */ - uint16_t sdo_index, /**< SDO-Index */ - uint8_t sdo_subindex, /**< SDO-Subindex */ - uint32_t value, /**< Neuer Wert */ - size_t size /**< Größe des Datenfeldes */ - ) +/*****************************************************************************/ + +/** + Beschreibt ein CANopen-SDO eines Slaves im Expedited-Modus. + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT-Slave */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + const uint8_t *sdo_data, /**< Neuer Wert */ + size_t size + ) { uint8_t data[0x0A]; - unsigned int i; size_t rec_size; if (size == 0 || size > 4) { - EC_ERR("Invalid SDO data size: %i!\n", size); - return -1; - } - - EC_WRITE_U16(data, 0x02 << 12); // Number (0), Service (SDO request) - EC_WRITE_U8 (data + 2, 0x23 | ((4 - size) << 2)); // Spec., exp., init. + EC_ERR("Invalid data size!\n"); + return -1; + } + + EC_WRITE_U16(data, 0x2000); // SDO request + EC_WRITE_U8 (data + 2, 0x23 | (4 - size) << 2); // expedited, size specif. EC_WRITE_U16(data + 3, sdo_index); EC_WRITE_U8 (data + 5, sdo_subindex); - for (i = 0; i < size; i++) { - EC_WRITE_U8(data + 6 + i, value & 0xFF); - value >>= 8; - } + memcpy(data + 6, sdo_data, size); + if (size < 4) memset(data + 6 + size, 0x00, 4 - size); // Mailox senden und empfangen if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1; @@ -71,9 +71,9 @@ if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1; if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request - EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req. - EC_ERR("SDO download of 0x%04X:%X (value %X, size %X) aborted on slave" - " %i.\n", sdo_index, sdo_subindex, value, size, + EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transfer request + EC_ERR("SDO download of 0x%04X:%X (%i bytes) aborted on!" + " slave %i.\n", sdo_index, sdo_subindex, size, slave->ring_position); ec_canopen_abort_msg(EC_READ_U32(data + 6)); return -1; @@ -95,20 +95,21 @@ /*****************************************************************************/ /** - Liest ein CANopen-SDO (service data object), expedited. - */ - -int ecrt_slave_sdo_exp_read(ec_slave_t *slave, /**< EtherCAT-Slave */ - uint16_t sdo_index, /**< SDO-Index */ - uint8_t sdo_subindex, /**< SDO-Subindex */ - uint32_t *value /**< Speicher für gel. Wert */ - ) + Liest 32-Bit eines CANopen-SDOs im Expedited-Modus aus einem Slave. + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT-Slave */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + uint8_t *target /**< Speicher für 4 Bytes */ + ) { uint8_t data[0x20]; size_t rec_size; - EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request - EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Expedited upload request + EC_WRITE_U16(data, 0x2000); // SDO request + EC_WRITE_U8 (data + 2, 0x42); // Upload request, expedited EC_WRITE_U16(data + 3, sdo_index); EC_WRITE_U8 (data + 5, sdo_subindex); @@ -134,14 +135,15 @@ return -1; } - *value = EC_READ_U32(data + 6); - return 0; -} - -/*****************************************************************************/ - -/** - Liest ein CANopen-SDO (service data object). + memcpy(target, data + 6, 4); + return 0; +} + +/*****************************************************************************/ + +/** + Liest ein CANopen-SDO aus einem Slave. + \return 0 wenn alles ok, < 0 bei Fehler */ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */ @@ -155,7 +157,7 @@ size_t rec_size, data_size; uint32_t complete_size; - EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request + EC_WRITE_U16(data, 0x2000); // SDO request EC_WRITE_U8 (data + 2, 0x2 << 5); // Initiate upload request EC_WRITE_U16(data + 3, sdo_index); EC_WRITE_U8 (data + 5, sdo_subindex); @@ -209,88 +211,7 @@ /*****************************************************************************/ /** - Schreibt ein CANopen-SDO (Angabe des Masters und der Adresse), expedited. - - Siehe ecrt_slave_sdo_exp_write() - - \return 0 wenn alles ok, < 0 bei Fehler - */ - -int ecrt_master_sdo_exp_write(ec_master_t *master, - /**< EtherCAT-Master */ - const char *addr, - /**< Addresse, siehe ec_master_slave_address() */ - uint16_t index, - /**< SDO-Index */ - uint8_t subindex, - /**< SDO-Subindex */ - uint32_t value, - /**< Neuer Wert */ - size_t size - /**< Größe des Datenfeldes */ - ) -{ - ec_slave_t *slave; - if (!(slave = ec_master_slave_address(master, addr))) return -1; - return ecrt_slave_sdo_exp_write(slave, index, subindex, value, size); -} - -/*****************************************************************************/ - -/** - Liest ein CANopen-SDO (Angabe des Masters und der Adresse), expedited. - - Siehe ecrt_slave_sdo_exp_read() - - \return 0 wenn alles ok, < 0 bei Fehler - */ - -int ecrt_master_sdo_exp_read(ec_master_t *master, - /**< EtherCAT-Slave */ - const char *addr, - /**< Addresse, siehe ec_master_slave_address() */ - uint16_t index, - /**< SDO-Index */ - uint8_t subindex, - /**< SDO-Subindex */ - uint32_t *value - /**< Speicher für gel. Wert */ - ) -{ - ec_slave_t *slave; - if (!(slave = ec_master_slave_address(master, addr))) return -1; - return ecrt_slave_sdo_exp_read(slave, index, subindex, value); -} - -/*****************************************************************************/ - -/** - Liest ein CANopen-SDO (Angabe des Masters und der Adresse), expedited. - - Siehe ecrt_slave_sdo_exp_read() - - \return 0 wenn alles ok, < 0 bei Fehler - */ - -int ecrt_master_sdo_read(ec_master_t *master, /**< EtherCAT-Master */ - const char *addr, /**< Addresse, siehe - ec_master_slave_address() */ - uint16_t sdo_index, /**< SDO-Index */ - uint8_t sdo_subindex, /**< SDO-Subindex */ - uint8_t *target, /**< Speicher für gel. Wert */ - size_t *size /**< Größe des Speichers */ - ) -{ - ec_slave_t *slave; - if (!(slave = ec_master_slave_address(master, addr))) return -1; - return ecrt_slave_sdo_read(slave, sdo_index, sdo_subindex, target, size); -} - -/*****************************************************************************/ - -/** Holt das Object-Dictionary aus dem Slave. - \return 0, wenn alles ok, sonst < 0 */ @@ -302,10 +223,10 @@ ec_sdo_t *sdo; uint16_t sdo_index; - EC_WRITE_U16(data, 0x8000); // Number (0), Service = SDO information + EC_WRITE_U16(data, 0x8000); // SDO information EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request - EC_WRITE_U8 (data + 3, 0x00); // res. - EC_WRITE_U16(data + 4, 0x0000); // fragments left + EC_WRITE_U8 (data + 3, 0x00); + EC_WRITE_U16(data + 4, 0x0000); EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs! if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1; @@ -370,11 +291,12 @@ ec_sdo_t *sdo; list_for_each_entry(sdo, &slave->sdo_dictionary, list) { - EC_WRITE_U16(data, 0x8000); // Number (0), Service = SDO inform. + EC_WRITE_U16(data, 0x8000); // SDO information EC_WRITE_U8 (data + 2, 0x03); // Get object description request - EC_WRITE_U8 (data + 3, 0x00); // res. - EC_WRITE_U16(data + 4, 0x0000); // fragments left + EC_WRITE_U8 (data + 3, 0x00); + EC_WRITE_U16(data + 4, 0x0000); EC_WRITE_U16(data + 6, sdo->index); // SDO index + if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1; rec_size = 0xF0; @@ -489,13 +411,129 @@ }; /*****************************************************************************/ - -EXPORT_SYMBOL(ecrt_slave_sdo_exp_write); -EXPORT_SYMBOL(ecrt_slave_sdo_exp_read); +// Echtzeitschnittstelle + +/*****************************************************************************/ + +/** + Liest ein 8-Bit CANopen-SDO im Expedited-Modus aus einem Slave. + Siehe ec_slave_sdo_read_exp() + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT-Slave */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + uint8_t *target /**< Speicher für gel. Wert */ + ) +{ + uint8_t data[4]; + if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; + *target = EC_READ_U8(data); + return 0; +} + +/*****************************************************************************/ + +/** + Liest ein 16-Bit CANopen-SDO im Expedited-Modus aus einem Slave. + Siehe ec_slave_sdo_read_exp() + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT-Slave */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + uint16_t *target /**< Speicher für gel. Wert */ + ) +{ + uint8_t data[4]; + if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; + *target = EC_READ_U16(data); + return 0; +} + +/*****************************************************************************/ + +/** + Liest ein 32-Bit CANopen-SDO im Expedited-Modus aus einem Slave. + Siehe ec_slave_sdo_read_exp() + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT-Slave */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + uint32_t *target /**< Speicher für gel. Wert */ + ) +{ + uint8_t data[4]; + if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; + *target = EC_READ_U32(data); + return 0; +} + +/*****************************************************************************/ + +/** + Beschreibt ein 8-Bit CANopen-SDO eines Slaves im Expedited-Modus. + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT-Slave */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + uint8_t value /**< Neuer Wert */ + ) +{ + return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1); +} + +/*****************************************************************************/ + +/** + Beschreibt ein 16-Bit CANopen-SDO eines Slaves im Expedited-Modus. + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT-Slave */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + uint16_t value /**< Neuer Wert */ + ) +{ + uint8_t data[2]; + EC_WRITE_U16(data, value); + return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2); +} + +/*****************************************************************************/ + +/** + Beschreibt ein 32-Bit CANopen-SDO eines Slaves im Expedited-Modus. + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT-Slave */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + uint32_t value /**< Neuer Wert */ + ) +{ + uint8_t data[4]; + EC_WRITE_U32(data, value); + return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4); +} + +/*****************************************************************************/ + +EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8); +EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16); +EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32); +EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8); +EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16); +EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32); EXPORT_SYMBOL(ecrt_slave_sdo_read); -EXPORT_SYMBOL(ecrt_master_sdo_exp_write); -EXPORT_SYMBOL(ecrt_master_sdo_exp_read); -EXPORT_SYMBOL(ecrt_master_sdo_read); /*****************************************************************************/ diff -r 3fb18812871a -r 7e743a61a991 master/domain.c --- a/master/domain.c Tue Mar 28 17:40:57 2006 +0000 +++ b/master/domain.c Wed Mar 29 10:30:13 2006 +0000 @@ -230,7 +230,7 @@ /**< Domäne */ const char *address, /**< ASCII-Addresse des Slaves, - siehe ec_master_slave_address() */ + siehe ecrt_master_get_slave() */ const char *vendor_name, /**< Herstellername */ const char *product_name, @@ -259,7 +259,7 @@ master = domain->master; // Adresse übersetzen - if (!(slave = ec_master_slave_address(master, address))) return NULL; + if (!(slave = ecrt_master_get_slave(master, address))) return NULL; if (!(type = slave->type)) { EC_ERR("Slave \"%s\" (position %i) has unknown type!\n", address, diff -r 3fb18812871a -r 7e743a61a991 master/master.c --- a/master/master.c Tue Mar 28 17:40:57 2006 +0000 +++ b/master/master.c Wed Mar 29 10:30:13 2006 +0000 @@ -539,11 +539,9 @@ \return Zeiger auf Slave bei Erfolg, sonst NULL */ -ec_slave_t *ec_master_slave_address(const ec_master_t *master, - /**< EtherCAT-Master */ - const char *address - /**< Address-String */ - ) +ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */ + const char *address /**< Address-String */ + ) { unsigned long first, second; char *remainder, *remainder2; @@ -1185,29 +1183,6 @@ /*****************************************************************************/ -/** - Schreibt den "Configured station alias". - - \return 0, wenn alles ok, sonst < 0 -*/ - -int ecrt_master_write_slave_alias(ec_master_t *master, - /** EtherCAT-Master */ - const char *slave_address, - /** Slave-Adresse, - siehe ec_master_slave_address() */ - uint16_t alias - /** Neuer Alias */ - ) -{ - ec_slave_t *slave; - if (!(slave = ec_master_slave_address(master, slave_address))) - return -1; - return ec_slave_sii_write16(slave, 0x0004, alias); -} - -/*****************************************************************************/ - EXPORT_SYMBOL(ecrt_master_create_domain); EXPORT_SYMBOL(ecrt_master_activate); EXPORT_SYMBOL(ecrt_master_deactivate); @@ -1218,7 +1193,7 @@ EXPORT_SYMBOL(ecrt_master_async_receive); EXPORT_SYMBOL(ecrt_master_debug); EXPORT_SYMBOL(ecrt_master_print); -EXPORT_SYMBOL(ecrt_master_write_slave_alias); +EXPORT_SYMBOL(ecrt_master_get_slave); /*****************************************************************************/ diff -r 3fb18812871a -r 7e743a61a991 master/master.h --- a/master/master.h Tue Mar 28 17:40:57 2006 +0000 +++ b/master/master.h Wed Mar 29 10:30:13 2006 +0000 @@ -76,7 +76,6 @@ // Slave management int ec_master_bus_scan(ec_master_t *); -ec_slave_t *ec_master_slave_address(const ec_master_t *, const char *); // Misc void ec_master_debug(const ec_master_t *); diff -r 3fb18812871a -r 7e743a61a991 master/slave.c --- a/master/slave.c Tue Mar 28 17:40:57 2006 +0000 +++ b/master/slave.c Wed Mar 29 10:30:13 2006 +0000 @@ -1163,6 +1163,24 @@ /*****************************************************************************/ +/** + Schreibt den "Configured station alias". + \return 0, wenn alles ok, sonst < 0 +*/ + +int ecrt_slave_write_alias(ec_slave_t *slave, /** EtherCAT-Slave */ + uint16_t alias /** Neuer Alias */ + ) +{ + return ec_slave_sii_write16(slave, 0x0004, alias); +} + +/*****************************************************************************/ + +EXPORT_SYMBOL(ecrt_slave_write_alias); + +/*****************************************************************************/ + /* Emacs-Konfiguration ;;; Local Variables: *** ;;; c-basic-offset:4 *** diff -r 3fb18812871a -r 7e743a61a991 mini/mini.c --- a/mini/mini.c Tue Mar 28 17:40:57 2006 +0000 +++ b/mini/mini.c Wed Mar 29 10:30:13 2006 +0000 @@ -130,15 +130,20 @@ //ecrt_master_debug(master, 2); #if 0 - if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || - ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || - ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || - ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || - ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || - ecrt_master_sdo_write(master, "1", 0x4068, 0, 0, 1) || - ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) || - ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) || - ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) { + if (!(slave = ecrt_master_get_slave(master, "5"))) { + printk(KERN_ERR "Failed to get slave 5!\n"); + goto out_deactivate; + } + + if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) || + ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) || + ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || + ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || + ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) || + ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || + ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || + ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || + ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) { printk(KERN_ERR "Failed to configure SSI slave!\n"); goto out_deactivate; } @@ -148,7 +153,7 @@ #if 0 printk(KERN_INFO "Writing alias...\n"); - if (ecrt_master_write_slave_alias(master, "0", 0xBEEF)) { + if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) { printk(KERN_ERR "Failed to write alias!\n"); goto out_deactivate; } diff -r 3fb18812871a -r 7e743a61a991 rt/msr_module.c --- a/rt/msr_module.c Tue Mar 28 17:40:57 2006 +0000 +++ b/rt/msr_module.c Wed Mar 29 10:30:13 2006 +0000 @@ -186,6 +186,7 @@ struct ipipe_domain_attr attr; //ipipe uint8_t string[10]; size_t size; + ec_slave_t *slave; // Als allererstes die RT-Lib initialisieren if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) { @@ -231,31 +232,41 @@ ecrt_master_print(master); #ifdef BLOCK1 + if (!(slave = ecrt_master_get_slave(master, "1"))) { + printk(KERN_ERR "Failed to get slave 1!\n"); + goto out_deactivate; + } + size = 10; - if (ecrt_master_sdo_read(master, "1", 0x100A, 0, string, &size)) { + if (ecrt_slave_sdo_read(slave, 0x100A, 0, string, &size)) { printk(KERN_ERR "Could not read SSI version!\n"); goto out_deactivate; } string[size] = 0; printk(KERN_INFO "Software-version 1: %s\n", string); + if (!(slave = ecrt_master_get_slave(master, "5"))) { + printk(KERN_ERR "Failed to get slave 5!\n"); + goto out_deactivate; + } + size = 10; - if (ecrt_master_sdo_read(master, "5", 0x100A, 0, string, &size)) { + if (ecrt_slave_sdo_read(slave, 0x100A, 0, string, &size)) { printk(KERN_ERR "Could not read SSI version!\n"); goto out_deactivate; } string[size] = 0; printk(KERN_INFO "Software-version 5: %s\n", string); - if (ecrt_master_sdo_exp_write(master, "5", 0x4061, 1, 0, 1) || - ecrt_master_sdo_exp_write(master, "5", 0x4061, 2, 1, 1) || - ecrt_master_sdo_exp_write(master, "5", 0x4061, 3, 1, 1) || - ecrt_master_sdo_exp_write(master, "5", 0x4066, 0, 0, 1) || - ecrt_master_sdo_exp_write(master, "5", 0x4067, 0, 4, 1) || - ecrt_master_sdo_exp_write(master, "5", 0x4068, 0, 0, 1) || - ecrt_master_sdo_exp_write(master, "5", 0x4069, 0, 25, 1) || - ecrt_master_sdo_exp_write(master, "5", 0x406A, 0, 25, 1) || - ecrt_master_sdo_exp_write(master, "5", 0x406B, 0, 50, 1)) { + if (ecrt_slave_sdo_write_exp8(slave, 0x4061, 1, 0) || + ecrt_slave_sdo_write_exp8(slave, 0x4061, 2, 1) || + ecrt_slave_sdo_write_exp8(slave, 0x4061, 3, 1) || + ecrt_slave_sdo_write_exp8(slave, 0x4066, 0, 0) || + ecrt_slave_sdo_write_exp8(slave, 0x4067, 0, 4) || + ecrt_slave_sdo_write_exp8(slave, 0x4068, 0, 0) || + ecrt_slave_sdo_write_exp8(slave, 0x4069, 0, 25) || + ecrt_slave_sdo_write_exp8(slave, 0x406A, 0, 25) || + ecrt_slave_sdo_write_exp8(slave, 0x406B, 0, 50)) { printk(KERN_ERR "Failed to configure SSI slave!\n"); goto out_deactivate; } diff -r 3fb18812871a -r 7e743a61a991 todo.txt --- a/todo.txt Tue Mar 28 17:40:57 2006 +0000 +++ b/todo.txt Wed Mar 29 10:30:13 2006 +0000 @@ -10,9 +10,9 @@ - Konfiguration Inkrementalgeberklemme - SSI-Klemme - SysFS-Interface implementieren -- SDO Dictionary der Slaves auslesen und im SysFS darstellen - DLL-Link-States auslesen und Topologie berechnen - Ethernet over EtherCAT (EoE) - eepro100-Kartentreiber +- Master mit eigener State-Machine -> run() - Installationsanleitung / Dokumentation - Userspace-Tool zum Konfigurieren und visualisieren