# HG changeset patch # User Florian Pose # Date 1213784038 0 # Node ID 8e49b519e6ba124387c82d3530c18e7e228564d3 # Parent fa5cf205f4f09e7dc026d89f66deca509036e359 Implemented ecrt_slave_config_state(); minor changes in ec_master_state_t and ec_slave_config_state_t; adapted example. diff -r fa5cf205f4f0 -r 8e49b519e6ba TODO --- a/TODO Wed Jun 18 09:27:04 2008 +0000 +++ b/TODO Wed Jun 18 10:13:58 2008 +0000 @@ -8,8 +8,6 @@ Version 1.4.0: -* Supply new ec_master_state_t. -* Implement ecrt_slave_config_state(). * Remove get_cycles() calls and references to cpu_khz to increase portability. * Make ecrt_master_slave_config() return no error when slave is not present diff -r fa5cf205f4f0 -r 8e49b519e6ba examples/mini/mini.c --- a/examples/mini/mini.c Wed Jun 18 09:27:04 2008 +0000 +++ b/examples/mini/mini.c Wed Jun 18 10:13:58 2008 +0000 @@ -60,6 +60,9 @@ static ec_domain_t *domain1 = NULL; static ec_domain_state_t domain1_state = {}; +static ec_slave_config_t *sc_ana_in = NULL; +static ec_slave_config_state_t sc_ana_in_state = {}; + static struct timer_list timer; static unsigned int counter = 0; @@ -128,14 +131,14 @@ { ec_domain_state_t ds; + spin_lock(&master_lock); ecrt_domain_state(domain1, &ds); + spin_unlock(&master_lock); + if (ds.working_counter != domain1_state.working_counter) - printk(KERN_INFO PFX "domain1 working_counter changed to %u.\n", - ds.working_counter); - + printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter); if (ds.wc_state != domain1_state.wc_state) - printk(KERN_INFO PFX "domain1 wc_state changed to %u.\n", - ds.wc_state); + printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state); domain1_state = ds; } @@ -150,16 +153,39 @@ ecrt_master_state(master, &ms); spin_unlock(&master_lock); - if (ms.slaves_responding != master_state.slaves_responding) { - printk(KERN_INFO PFX "slaves_responding changed to %u.\n", - ms.slaves_responding); - } + if (ms.slaves_responding != master_state.slaves_responding) + printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding); + if (ms.al_states != master_state.al_states) + printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states); + if (ms.link_up != master_state.link_up) + printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down"); master_state = ms; } /*****************************************************************************/ +void check_slave_config_states(void) +{ + ec_slave_config_state_t s; + + spin_lock(&master_lock); + ecrt_slave_config_state(sc_ana_in, &s); + spin_unlock(&master_lock); + + if (s.al_state != sc_ana_in_state.al_state) + printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state); + if (s.online != sc_ana_in_state.online) + printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline"); + if (s.operational != sc_ana_in_state.operational) + printk(KERN_INFO PFX "AnaIn: %soperational.\n", + s.operational ? "" : "Not "); + + sc_ana_in_state = s; +} + +/*****************************************************************************/ + #ifdef SDO_ACCESS void read_sdo(void) { @@ -207,6 +233,9 @@ // check for master state (optional) check_master_state(); + + // check for islave configuration state(s) (optional) + check_slave_config_states(); #ifdef SDO_ACCESS // read process data Sdo @@ -269,14 +298,15 @@ goto out_release_master; } + if (!(sc_ana_in = ecrt_master_slave_config( + master, 0, 1, Beckhoff_EL3162))) { + printk(KERN_ERR PFX "Failed to get slave configuration.\n"); + goto out_release_master; + } + #ifdef CONFIGURE_PDOS printk(KERN_INFO PFX "Configuring Pdos...\n"); - if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) { - printk(KERN_ERR PFX "Failed to get slave configuration.\n"); - goto out_release_master; - } - - if (ecrt_slave_config_pdos(sc, EC_END, el3162_pdos)) { + if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_pdos)) { printk(KERN_ERR PFX "Failed to configure Pdos.\n"); goto out_release_master; } diff -r fa5cf205f4f0 -r 8e49b519e6ba include/ecrt.h --- a/include/ecrt.h Wed Jun 18 09:27:04 2008 +0000 +++ b/include/ecrt.h Wed Jun 18 10:13:58 2008 +0000 @@ -157,15 +157,16 @@ */ typedef struct { unsigned int slaves_responding; /**< Number of slaves in the bus. */ - uint8_t slave_states; /**< Application-layer states of all slaves. - The states are coded in the lower 4 bits. If a bit - is set, it means that at least one slave in the - bus is in the corresponding state: - - Bit 0: \a INIT - - Bit 1: \a PREOP - - Bit 2: \a SAFEOP - - Bit 3: \a OP */ - uint8_t link_up; /**< \a true, if the network link is up. */ + unsigned int al_states : 4; /**< Application-layer states of all slaves. + The states are coded in the lower 4 bits. + If a bit is set, it means that at least one + slave in the bus is in the corresponding + state: + - Bit 0: \a INIT + - Bit 1: \a PREOP + - Bit 2: \a SAFEOP + - Bit 3: \a OP */ + unsigned int link_up : 1; /**< \a true, if the network link is up. */ } ec_master_state_t; /*****************************************************************************/ @@ -177,17 +178,17 @@ * \see ecrt_slave_config_state(). */ typedef struct { - uint8_t slave_state; /**< The application-layer state of the slave. - - 1: \a INIT - - 2: \a PREOP - - 4: \a SAFEOP - - 8: \a OP - - Note that each state is coded in a different - bit! */ unsigned int online : 1; /**< The slave is online. */ unsigned int operational : 1; /**< The slave was brought into \a OP state using the specified configuration. */ + unsigned int al_state : 4; /**< The application-layer state of the slave. + - 1: \a INIT + - 2: \a PREOP + - 4: \a SAFEOP + - 8: \a OP + + Note that each state is coded in a different + bit! */ } ec_slave_config_state_t; /*****************************************************************************/ diff -r fa5cf205f4f0 -r 8e49b519e6ba master/master.c --- a/master/master.c Wed Jun 18 09:27:04 2008 +0000 +++ b/master/master.c Wed Jun 18 10:13:58 2008 +0000 @@ -1372,7 +1372,7 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state) { state->slaves_responding = master->fsm.slaves_responding; - state->slave_states = master->fsm.slave_states; + state->al_states = master->fsm.slave_states; state->link_up = master->main_device.link_state; } diff -r fa5cf205f4f0 -r 8e49b519e6ba master/slave_config.c --- a/master/slave_config.c Wed Jun 18 09:27:04 2008 +0000 +++ b/master/slave_config.c Wed Jun 18 10:13:58 2008 +0000 @@ -618,6 +618,22 @@ /*****************************************************************************/ +void ecrt_slave_config_state(const ec_slave_config_t *sc, + ec_slave_config_state_t *state) +{ + state->online = sc->slave ? 1 : 0; + if (state->online) { + state->operational = + sc->slave->current_state == EC_SLAVE_STATE_OP; + state->al_state = sc->slave->current_state; + } else { + state->operational = 0; + state->al_state = EC_SLAVE_STATE_UNKNOWN; + } +} + +/*****************************************************************************/ + /** \cond */ EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add); @@ -631,6 +647,7 @@ EXPORT_SYMBOL(ecrt_slave_config_sdo16); EXPORT_SYMBOL(ecrt_slave_config_sdo32); EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request); +EXPORT_SYMBOL(ecrt_slave_config_state); /** \endcond */