--- a/NEWS Mon Jan 26 14:14:17 2009 +0000
+++ b/NEWS Mon Jan 26 14:39:49 2009 +0000
@@ -22,6 +22,7 @@
* Implemented the File Access over EtherCAT (FoE) mailbox protocol.
* Going to the Bootstrap state is now supported by the state machines and the
command-line tool.
+* Introduced ecrt_master_slave() to get information about a certain slave.
Changes in 1.4.0:
--- a/TODO Mon Jan 26 14:14:17 2009 +0000
+++ b/TODO Mon Jan 26 14:39:49 2009 +0000
@@ -24,6 +24,7 @@
* C++ implementation of the library.
* Distributed clocks.
* Bus simulator interface.
+* Implement ecrt_master_slave() in kernel space.
Future issues:
--- a/include/ecrt.h Mon Jan 26 14:14:17 2009 +0000
+++ b/include/ecrt.h Mon Jan 26 14:39:49 2009 +0000
@@ -1,27 +1,27 @@
/******************************************************************************
*
- * $Id$
- *
- * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
- *
- * This file is part of the IgH EtherCAT master userspace library.
- *
- * The IgH EtherCAT master userspace library is free software; you can
- * redistribute it and/or modify it under the terms of the GNU Lesser General
- * Public License as published by the Free Software Foundation; version 2.1 of
- * the License.
- *
- * The IgH EtherCAT master userspace library is distributed in the hope that
- * it will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public License
- * along with the IgH EtherCAT master userspace library. If not, see
- * <http://www.gnu.org/licenses/>.
- *
- * Using the EtherCAT technology and brand is permitted in compliance with the
- * industrial property and similar rights of Beckhoff Automation GmbH.
+ * $Id$
+ *
+ * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT master userspace library.
+ *
+ * The IgH EtherCAT master userspace library is free software; you can
+ * redistribute it and/or modify it under the terms of the GNU Lesser General
+ * Public License as published by the Free Software Foundation; version 2.1
+ * of the License.
+ *
+ * The IgH EtherCAT master userspace library is distributed in the hope that
+ * it will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with the IgH EtherCAT master userspace library. If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ * Using the EtherCAT technology and brand is permitted in compliance with
+ * the industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
@@ -40,6 +40,11 @@
*
* - Changed the meaning of the negative return values of
* ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
+ * - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
+ * ecrt_slave_config_create_voe_handler().
+ * - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also
+ * used by VoE handlers.
+ * - Added ecrt_master_slave() to get information about a certain slave.
*
* Changes in Version 1.4:
*
@@ -134,6 +139,12 @@
*/
#define EC_MAX_SYNC_MANAGERS 16
+/** Maximum string length.
+ *
+ * Used in ec_slave_info_t.
+ */
+#define EC_MAX_STRING_LENGTH 64
+
/******************************************************************************
* Data types
*****************************************************************************/
@@ -199,6 +210,29 @@
/*****************************************************************************/
+/** Slave information.
+ *
+ * This is used as an output parameter of ecrt_master_slave().
+ *
+ * \see ecrt_master_slave().
+ */
+typedef struct {
+ uint16_t position; /**< Offset of the slave in the ring. */
+ uint32_t vendor_id; /**< Vendor-ID stored on the slave. */
+ uint32_t product_code; /**< Product-Code stored on the slave. */
+ uint32_t revision_number; /**< Revision-Number stored on the slave. */
+ uint32_t serial_number; /**< Serial-Number stored on the slave. */
+ uint16_t alias; /**< The slaves alias if not equal to 0. */
+ int16_t current_on_ebus;
+ uint8_t al_state; /**< Current state of the slave. */
+ uint8_t error_flag; /**< Error flag for that slave. */
+ uint8_t sync_count; /**< Number of sync managers. */
+ uint16_t sdo_count; /**< Number of SDO's. */
+ char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */
+} ec_slave_info_t;
+
+/*****************************************************************************/
+
/** Domain working counter interpretation.
*
* This is used in ec_domain_state_t.
@@ -433,6 +467,23 @@
uint32_t product_code /**< Expected product code. */
);
+/** Obtains slave information.
+ *
+ * Tries to find the slave with the given ring position. The obtained
+ * information is stored in a structure. No memory is allocated on the heap in
+ * this function.
+ *
+ * \attention The pointer to this structure must point to a valid variable.
+ *
+ * \return 0 in case of success, else < 0
+ */
+int ecrt_master_slave(
+ ec_master_t *master, /**< EtherCAT master */
+ uint16_t position, /**< Slave position. */
+ ec_slave_info_t *slave_info /**< Structure that will output the
+ information */
+ );
+
/** Finishes the configuration phase and prepares for cyclic operation.
*
* This function tells the master that the configuration phase is finished and
--- a/lib/master.c Mon Jan 26 14:14:17 2009 +0000
+++ b/lib/master.c Mon Jan 26 14:39:49 2009 +0000
@@ -100,6 +100,38 @@
/*****************************************************************************/
+int ecrt_master_slave(ec_master_t *master, uint16_t position,
+ ec_slave_info_t *slave_info)
+{
+ ec_ioctl_slave_t data;
+ int index;
+
+ data.position = position;
+
+ if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
+ fprintf(stderr, "Failed to get slave info: %s\n",
+ strerror(errno));
+ return -1;
+ }
+
+ slave_info->position = data.position;
+ slave_info->vendor_id = data.vendor_id;
+ slave_info->product_code = data.product_code;
+ slave_info->revision_number = data.revision_number;
+ slave_info->serial_number = data.serial_number;
+ slave_info->alias = data.alias;
+ slave_info->current_on_ebus = data.current_on_ebus;
+ slave_info->al_state = data.al_state;
+ slave_info->error_flag = data.error_flag;
+ slave_info->sync_count = data.sync_count;
+ slave_info->sdo_count = data.sdo_count;
+ strncpy(slave_info->name, data.name, EC_IOCTL_STRING_SIZE);
+
+ return 0;
+}
+
+/*****************************************************************************/
+
int ecrt_master_activate(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_ACTIVATE,