--- a/TODO Wed Aug 09 15:14:29 2006 +0000
+++ b/TODO Fri Sep 01 12:35:41 2006 +0000
@@ -10,9 +10,10 @@
* Add Kobjects in constructors.
-* Read AL Status Code with AL Control Response.
+* Read AL Status Code with AL Control Response (if possible?)
* Coupling of EoE handlers before configuring slaves.
+ (avoiding duplicate configuration)
* SysFS interface
- Add secondary slave address
@@ -24,12 +25,12 @@
* Implement eepro100 driver
+* Progress bar in ecrt.
+
-------------------------------------------------------------------------------
Not-so-important things to do:
-* User space tool for configuration
-
* Calculate bus topology
* File access over EtherCAT (FoE)
--- a/examples/mini/mini.c Wed Aug 09 15:14:29 2006 +0000
+++ b/examples/mini/mini.c Fri Sep 01 12:35:41 2006 +0000
@@ -63,8 +63,8 @@
uint8_t k_stat;
ec_pdo_reg_t domain1_pdos[] = {
- {"1", Beckhoff_EL4132_Output1, &r_ana_out},
- {"8", Beckhoff_EL5001_Value, NULL},
+ {"2", Beckhoff_EL4132_Output1, &r_ana_out},
+ {"3", Beckhoff_EL5001_Value, NULL},
{}
};
@@ -148,7 +148,7 @@
goto out_release_master;
}
- if (!(slave = ecrt_master_get_slave(master, "8")))
+ if (!(slave = ecrt_master_get_slave(master, "3")))
goto out_release_master;
if (ecrt_slave_conf_sdo8(slave, 0x4061, 1, 0))
--- a/include/ecdb.h Wed Aug 09 15:14:29 2006 +0000
+++ b/include/ecdb.h Fri Sep 01 12:35:41 2006 +0000
@@ -45,12 +45,35 @@
/** \cond */
+#define Beckhoff_EL1004_Inputs 0x00000002, 0x03EC3052, 0x3101, 1
+
+#define Beckhoff_EL1014_Inputs 0x00000002, 0x03F63052, 0x3101, 1
+
+#define Beckhoff_EL2004_Outputs 0x00000002, 0x07D43052, 0x3001, 1
+
+#define Beckhoff_EL2032_Outputs 0x00000002, 0x07F03052, 0x3001, 1
+
+#define Beckhoff_EL3102_Status1 0x00000002, 0x0C1E3052, 0x3101, 1
+#define Beckhoff_EL3102_Input1 0x00000002, 0x0C1E3052, 0x3101, 2
+#define Beckhoff_EL3102_Status2 0x00000002, 0x0C1E3052, 0x3102, 1
+#define Beckhoff_EL3102_Input2 0x00000002, 0x0C1E3052, 0x3102, 2
+
+#define Beckhoff_EL3162_Status1 0x00000002, 0x0C5A3052, 0x3101, 1
+#define Beckhoff_EL3162_Input1 0x00000002, 0x0C5A3052, 0x3101, 2
+#define Beckhoff_EL3162_Status2 0x00000002, 0x0C5A3052, 0x3102, 1
+#define Beckhoff_EL3162_Input2 0x00000002, 0x0C5A3052, 0x3102, 2
+
+#define Beckhoff_EL4102_Output1 0x00000002, 0x10063052, 0x6411, 1
+#define Beckhoff_EL4102_Output2 0x00000002, 0x10063052, 0x6411, 2
+
#define Beckhoff_EL4132_Output1 0x00000002, 0x10243052, 0x6411, 1
#define Beckhoff_EL4132_Output2 0x00000002, 0x10243052, 0x6411, 2
#define Beckhoff_EL5001_Status 0x00000002, 0x13893052, 0x3101, 1
#define Beckhoff_EL5001_Value 0x00000002, 0x13893052, 0x3101, 2
+#define Beckhoff_EL5101_Value 0x00000002, 0x13ED3052, 0x6000, 2
+
/** \endcond */
/*****************************************************************************/
--- a/master/datagram.c Wed Aug 09 15:14:29 2006 +0000
+++ b/master/datagram.c Fri Sep 01 12:35:41 2006 +0000
@@ -77,7 +77,7 @@
datagram->index = 0x00;
datagram->working_counter = 0x00;
datagram->state = EC_DATAGRAM_INIT;
- datagram->t_sent = 0;
+ datagram->cycles_sent = 0;
}
/*****************************************************************************/
--- a/master/datagram.h Wed Aug 09 15:14:29 2006 +0000
+++ b/master/datagram.h Fri Sep 01 12:35:41 2006 +0000
@@ -74,10 +74,10 @@
{
EC_DATAGRAM_INIT, /**< new datagram */
EC_DATAGRAM_QUEUED, /**< datagram queued by master */
- EC_DATAGRAM_SENT, /**< datagram has been sent */
- EC_DATAGRAM_RECEIVED, /**< datagram has been received */
- EC_DATAGRAM_TIMED_OUT, /**< datagram timed out */
- EC_DATAGRAM_ERROR /**< error while sending/receiving */
+ EC_DATAGRAM_SENT, /**< datagram has been sent and still in the queue */
+ EC_DATAGRAM_RECEIVED, /**< datagram has been received and dequeued */
+ EC_DATAGRAM_TIMED_OUT, /**< datagram timed out and was dequeued */
+ EC_DATAGRAM_ERROR /**< error while sending/receiving, datagram dequeued */
}
ec_datagram_state_t;
@@ -118,7 +118,7 @@
uint8_t index; /**< datagram index (set by master) */
uint16_t working_counter; /**< working counter */
ec_datagram_state_t state; /**< datagram state */
- cycles_t t_sent; /**< time, the datagrams was sent */
+ cycles_t cycles_sent; /**< time, the datagram was sent */
}
ec_datagram_t;
--- a/master/domain.c Wed Aug 09 15:14:29 2006 +0000
+++ b/master/domain.c Fri Sep 01 12:35:41 2006 +0000
@@ -106,7 +106,7 @@
domain->data_size = 0;
domain->base_address = 0;
domain->response_count = 0xFFFFFFFF;
- domain->t_last = 0;
+ domain->notify_jiffies = 0;
domain->working_counter_changes = 0;
INIT_LIST_HEAD(&domain->data_regs);
@@ -193,7 +193,7 @@
list_for_each_entry(other_pdo, &slave->sii_pdos, list) {
if (other_pdo->sync_index != sync->index) continue;
- list_for_each_entry(other_entry, &pdo->entries, list) {
+ list_for_each_entry(other_entry, &other_pdo->entries, list) {
if (other_entry == entry) {
byte_offset = bit_offset / 8;
break;
@@ -513,7 +513,6 @@
{
unsigned int working_counter_sum;
ec_datagram_t *datagram;
- cycles_t t_now = get_cycles();
working_counter_sum = 0;
list_for_each_entry(datagram, &domain->datagrams, list) {
@@ -528,8 +527,8 @@
}
if (domain->working_counter_changes &&
- (u32) (t_now - domain->t_last) / cpu_khz > 1000) {
- domain->t_last = t_now;
+ jiffies - domain->notify_jiffies > HZ) {
+ domain->notify_jiffies = jiffies;
if (domain->working_counter_changes == 1) {
EC_INFO("Domain %i working counter change: %i\n", domain->index,
domain->response_count);
--- a/master/domain.h Wed Aug 09 15:14:29 2006 +0000
+++ b/master/domain.h Fri Sep 01 12:35:41 2006 +0000
@@ -69,7 +69,7 @@
struct list_head data_regs; /**< PDO data registrations */
unsigned int working_counter_changes; /**< working counter changes
since last notification */
- cycles_t t_last; /**< time of last notification */
+ unsigned long notify_jiffies; /**< time of last notification */
};
/*****************************************************************************/
--- a/master/ethernet.c Wed Aug 09 15:14:29 2006 +0000
+++ b/master/ethernet.c Fri Sep 01 12:35:41 2006 +0000
@@ -105,7 +105,7 @@
eoe->tx_counter = 0;
eoe->rx_rate = 0;
eoe->tx_rate = 0;
- eoe->t_last = 0;
+ eoe->rate_jiffies = 0;
if (!(eoe->dev =
alloc_netdev(sizeof(ec_eoe_t *), "eoe%d", ether_setup))) {
@@ -278,21 +278,18 @@
void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)
{
- cycles_t t_now;
-
if (!eoe->opened) return;
// call state function
eoe->state(eoe);
// update statistics
- t_now = get_cycles();
- if ((u32) (t_now - eoe->t_last) > cpu_khz * 1000) {
+ if (jiffies - eoe->rate_jiffies > HZ) {
eoe->rx_rate = eoe->rx_counter * 8;
eoe->tx_rate = eoe->tx_counter * 8;
eoe->rx_counter = 0;
eoe->tx_counter = 0;
- eoe->t_last = t_now;
+ eoe->rate_jiffies = jiffies;
}
}
--- a/master/ethernet.h Wed Aug 09 15:14:29 2006 +0000
+++ b/master/ethernet.h Fri Sep 01 12:35:41 2006 +0000
@@ -78,7 +78,7 @@
struct net_device *dev; /**< net_device for virtual ethernet device */
struct net_device_stats stats; /**< device statistics */
unsigned int opened; /**< net_device is opened */
- cycles_t t_last; /**< time of last rate output */
+ unsigned long rate_jiffies; /**< time of last rate output */
struct sk_buff *rx_skb; /**< current rx socket buffer */
off_t rx_skb_offset; /**< current write pointer in the socket buffer */
size_t rx_skb_size; /**< size of the allocated socket buffer memory */
--- a/master/fsm.c Wed Aug 09 15:14:29 2006 +0000
+++ b/master/fsm.c Fri Sep 01 12:35:41 2006 +0000
@@ -1779,7 +1779,7 @@
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
- fsm->change_start = get_cycles();
+ fsm->change_jiffies = jiffies;
// write new state to slave
ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
@@ -1807,7 +1807,7 @@
}
if (datagram->working_counter != 1) {
- if (get_cycles() - fsm->change_start >= (cycles_t) 100 * cpu_khz) {
+ if (jiffies - fsm->change_jiffies >= 3 * HZ) {
fsm->change_state = ec_fsm_error;
EC_ERR("Failed to set state 0x%02X on slave %i: Slave did not"
" respond.\n", fsm->change_new, fsm->slave->ring_position);
@@ -1821,7 +1821,7 @@
return;
}
- fsm->change_start = get_cycles();
+ fsm->change_jiffies = jiffies;
// read AL status from slave
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
@@ -1869,7 +1869,7 @@
return;
}
- if (get_cycles() - fsm->change_start >= (cycles_t) 10 * cpu_khz) {
+ if (jiffies - fsm->change_jiffies >= 100 * HZ / 1000) { // 100ms
// timeout while checking
fsm->change_state = ec_fsm_error;
EC_ERR("Timeout while setting state 0x%02X on slave %i.\n",
@@ -1978,7 +1978,7 @@
return;
}
- fsm->change_start = get_cycles();
+ fsm->change_jiffies = jiffies;
// read new AL status
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
@@ -2014,7 +2014,7 @@
return;
}
- if (get_cycles() - fsm->change_start >= (cycles_t) 100 * cpu_khz) {
+ if (jiffies - fsm->change_jiffies >= 100 * HZ / 1000) { // 100ms
// timeout while checking
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
fsm->change_state = ec_fsm_error;
--- a/master/fsm.h Wed Aug 09 15:14:29 2006 +0000
+++ b/master/fsm.h Fri Sep 01 12:35:41 2006 +0000
@@ -75,7 +75,7 @@
void (*change_state)(ec_fsm_t *); /**< slave state change state function */
ec_slave_state_t change_new; /**< input: new state */
- cycles_t change_start; /**< change start */
+ unsigned long change_jiffies; /**< change timer */
void (*coe_state)(ec_fsm_t *); /**< CoE state function */
ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
--- a/master/master.c Wed Aug 09 15:14:29 2006 +0000
+++ b/master/master.c Fri Sep 01 12:35:41 2006 +0000
@@ -227,8 +227,8 @@
// empty datagram queue
list_for_each_entry_safe(datagram, next_c,
&master->datagram_queue, queue) {
+ datagram->state = EC_DATAGRAM_ERROR;
list_del_init(&datagram->queue);
- datagram->state = EC_DATAGRAM_ERROR;
}
// clear domains
@@ -242,11 +242,10 @@
master->debug_level = 0;
master->stats.timeouts = 0;
- master->stats.delayed = 0;
master->stats.corrupted = 0;
master->stats.skipped = 0;
master->stats.unmatched = 0;
- master->stats.t_last = 0;
+ master->stats.output_jiffies = 0;
master->mode = EC_MASTER_MODE_ORPHANED;
@@ -316,11 +315,11 @@
size_t datagram_size;
uint8_t *frame_data, *cur_data;
void *follows_word;
- cycles_t t_start, t_end;
+ cycles_t cycles_start, cycles_end;
unsigned int frame_count, more_datagrams_waiting;
frame_count = 0;
- t_start = get_cycles();
+ cycles_start = get_cycles();
if (unlikely(master->debug_level > 1))
EC_DBG("ec_master_send_datagrams\n");
@@ -345,7 +344,7 @@
}
datagram->state = EC_DATAGRAM_SENT;
- datagram->t_sent = t_start;
+ datagram->cycles_sent = cycles_start;
datagram->index = master->datagram_index++;
if (unlikely(master->debug_level > 1))
@@ -397,9 +396,10 @@
while (more_datagrams_waiting);
if (unlikely(master->debug_level > 1)) {
- t_end = get_cycles();
+ cycles_end = get_cycles();
EC_DBG("ec_master_send_datagrams sent %i frames in %ius.\n",
- frame_count, (unsigned int) (t_end - t_start) * 1000 / cpu_khz);
+ frame_count,
+ (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz);
}
}
@@ -476,7 +476,7 @@
continue;
}
- // copy received data in the datagram memory
+ // copy received data into the datagram memory
memcpy(datagram->data, cur_data, data_size);
cur_data += data_size;
@@ -528,17 +528,13 @@
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
{
- cycles_t t_now = get_cycles();
-
- if (unlikely((u32) (t_now - master->stats.t_last) / cpu_khz > 1000)) {
+ if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
+ master->stats.output_jiffies = jiffies;
+
if (master->stats.timeouts) {
EC_WARN("%i datagrams TIMED OUT!\n", master->stats.timeouts);
master->stats.timeouts = 0;
}
- if (master->stats.delayed) {
- EC_WARN("%i frame(s) DELAYED!\n", master->stats.delayed);
- master->stats.delayed = 0;
- }
if (master->stats.corrupted) {
EC_WARN("%i frame(s) CORRUPTED!\n", master->stats.corrupted);
master->stats.corrupted = 0;
@@ -551,7 +547,6 @@
EC_WARN("%i datagram(s) UNMATCHED!\n", master->stats.unmatched);
master->stats.unmatched = 0;
}
- master->stats.t_last = t_now;
}
}
@@ -610,25 +605,25 @@
void ec_master_idle_run(void *data /**< master pointer */)
{
ec_master_t *master = (ec_master_t *) data;
- cycles_t start, end;
+ cycles_t cycles_start, cycles_end;
// aquire master lock
spin_lock_bh(&master->internal_lock);
- start = get_cycles();
+ cycles_start = get_cycles();
ecrt_master_receive(master);
// execute master state machine
ec_fsm_execute(&master->fsm);
ecrt_master_send(master);
- end = get_cycles();
+ cycles_end = get_cycles();
// release master lock
spin_unlock_bh(&master->internal_lock);
master->idle_cycle_times[master->idle_cycle_time_pos]
- = (u32) (end - start) * 1000 / cpu_khz;
+ = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
master->idle_cycle_time_pos++;
master->idle_cycle_time_pos %= HZ;
@@ -958,7 +953,8 @@
ec_master_t *master = (ec_master_t *) data;
ec_eoe_t *eoe;
unsigned int active = 0;
- cycles_t start, end;
+ cycles_t cycles_start, cycles_end;
+ unsigned long restart_jiffies;
list_for_each_entry(eoe, &master->eoe_handlers, list) {
if (ec_eoe_active(eoe)) active++;
@@ -977,8 +973,8 @@
else
goto queue_timer;
- // actual EoE stuff
- start = get_cycles();
+ // actual EoE processing
+ cycles_start = get_cycles();
ecrt_master_receive(master);
list_for_each_entry(eoe, &master->eoe_handlers, list) {
@@ -986,7 +982,7 @@
}
ecrt_master_send(master);
- end = get_cycles();
+ cycles_end = get_cycles();
// release lock...
if (master->mode == EC_MASTER_MODE_OPERATION) {
@@ -997,12 +993,14 @@
}
master->eoe_cycle_times[master->eoe_cycle_time_pos]
- = (u32) (end - start) * 1000 / cpu_khz;
+ = (u32) (cycles_end - cycles_start) * 1000 / cpu_khz;
master->eoe_cycle_time_pos++;
master->eoe_cycle_time_pos %= HZ;
queue_timer:
- master->eoe_timer.expires += HZ / EC_EOE_FREQUENCY;
+ restart_jiffies = HZ / EC_EOE_FREQUENCY;
+ if (!restart_jiffies) restart_jiffies = 1;
+ master->eoe_timer.expires += restart_jiffies;
add_timer(&master->eoe_timer);
}
@@ -1047,7 +1045,7 @@
void ec_master_measure_bus_time(ec_master_t *master)
{
ec_datagram_t datagram;
- cycles_t t_start, t_end, t_timeout;
+ cycles_t cycles_start, cycles_end, cycles_timeout;
uint32_t times[100], sum, min, max, i;
ec_datagram_init(&datagram);
@@ -1058,7 +1056,7 @@
return;
}
- t_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
+ cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
sum = 0;
min = 0xFFFFFFFF;
@@ -1067,11 +1065,11 @@
for (i = 0; i < 100; i++) {
ec_master_queue_datagram(master, &datagram);
ecrt_master_send(master);
- t_start = get_cycles();
+ cycles_start = get_cycles();
while (1) { // active waiting
ec_device_call_isr(master->device);
- t_end = get_cycles(); // take current time
+ cycles_end = get_cycles(); // take current time
if (datagram.state == EC_DATAGRAM_RECEIVED) {
break;
@@ -1080,13 +1078,13 @@
EC_WARN("Failed to measure bus time.\n");
goto error;
}
- else if (t_end - t_start >= t_timeout) {
+ else if (cycles_end - cycles_start >= cycles_timeout) {
EC_WARN("Timeout while measuring bus time.\n");
goto error;
}
}
- times[i] = (unsigned int) (t_end - t_start) * 1000 / cpu_khz;
+ times[i] = (unsigned int) (cycles_end - cycles_start) * 1000 / cpu_khz;
sum += times[i];
if (times[i] > max) max = times[i];
if (times[i] < min) min = times[i];
@@ -1234,50 +1232,23 @@
void ec_master_sync_io(ec_master_t *master /**< EtherCAT master */)
{
- ec_datagram_t *datagram, *n;
- unsigned int datagrams_sent;
- cycles_t t_start, t_end, t_timeout;
+ ec_datagram_t *datagram;
+ unsigned int datagrams_waiting;
// send datagrams
ecrt_master_send(master);
- t_start = get_cycles(); // measure io time
- t_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
-
while (1) { // active waiting
- ec_device_call_isr(master->device);
-
- t_end = get_cycles(); // take current time
- if (t_end - t_start >= t_timeout) break; // timeout!
-
- datagrams_sent = 0;
- list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
- if (datagram->state == EC_DATAGRAM_RECEIVED)
- list_del_init(&datagram->queue);
- else if (datagram->state == EC_DATAGRAM_SENT)
- datagrams_sent++;
- }
-
- if (!datagrams_sent) break;
- }
-
- // timeout; dequeue all datagrams
- list_for_each_entry_safe(datagram, n, &master->datagram_queue, queue) {
- switch (datagram->state) {
- case EC_DATAGRAM_SENT:
- case EC_DATAGRAM_QUEUED:
- datagram->state = EC_DATAGRAM_TIMED_OUT;
- master->stats.timeouts++;
- ec_master_output_stats(master);
- break;
- case EC_DATAGRAM_RECEIVED:
- master->stats.delayed++;
- ec_master_output_stats(master);
- break;
- default:
- break;
- }
- list_del_init(&datagram->queue);
+ ecrt_master_receive(master); // receive and dequeue datagrams
+
+ // count number of datagrams still waiting for response
+ datagrams_waiting = 0;
+ list_for_each_entry(datagram, &master->datagram_queue, queue) {
+ datagrams_waiting++;
+ }
+
+ // if there are no more datagrams waiting, abort loop.
+ if (!datagrams_waiting) break;
}
}
@@ -1318,24 +1289,19 @@
void ecrt_master_receive(ec_master_t *master /**< EtherCAT master */)
{
ec_datagram_t *datagram, *next;
- cycles_t t_received, t_timeout;
+ cycles_t cycles_received, cycles_timeout;
ec_device_call_isr(master->device);
- t_received = get_cycles();
- t_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
-
- // dequeue all received datagrams
- list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue)
- if (datagram->state == EC_DATAGRAM_RECEIVED)
- list_del_init(&datagram->queue);
+ cycles_received = get_cycles();
+ cycles_timeout = EC_IO_TIMEOUT * cpu_khz / 1000;
// dequeue all datagrams that timed out
list_for_each_entry_safe(datagram, next, &master->datagram_queue, queue) {
switch (datagram->state) {
case EC_DATAGRAM_SENT:
case EC_DATAGRAM_QUEUED:
- if (t_received - datagram->t_sent > t_timeout) {
+ if (cycles_received - datagram->cycles_sent > cycles_timeout) {
list_del_init(&datagram->queue);
datagram->state = EC_DATAGRAM_TIMED_OUT;
master->stats.timeouts++;
@@ -1360,7 +1326,7 @@
void ecrt_master_prepare(ec_master_t *master /**< EtherCAT master */)
{
ec_domain_t *domain;
- cycles_t t_start, t_end, t_timeout;
+ cycles_t cycles_start, cycles_end, cycles_timeout;
// queue datagrams of all domains
list_for_each_entry(domain, &master->domains, list)
@@ -1368,13 +1334,13 @@
ecrt_master_send(master);
- t_start = get_cycles(); // take sending time
- t_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
+ cycles_start = get_cycles(); // take sending time
+ cycles_timeout = (cycles_t) EC_IO_TIMEOUT * (cpu_khz / 1000);
// active waiting
while (1) {
- t_end = get_cycles();
- if (t_end - t_start >= t_timeout) break;
+ cycles_end = get_cycles();
+ if (cycles_end - cycles_start >= cycles_timeout) break;
}
}
--- a/master/master.h Wed Aug 09 15:14:29 2006 +0000
+++ b/master/master.h Fri Sep 01 12:35:41 2006 +0000
@@ -72,13 +72,12 @@
typedef struct
{
unsigned int timeouts; /**< datagram timeouts */
- unsigned int delayed; /**< delayed datagrams */
unsigned int corrupted; /**< corrupted frames */
unsigned int skipped; /**< skipped datagrams (the ones that were
requeued when not yet received) */
unsigned int unmatched; /**< unmatched datagrams (received, but not
queued any longer) */
- cycles_t t_last; /**< time of last output */
+ unsigned long output_jiffies; /**< time of last output */
}
ec_stats_t;
--- a/master/slave.c Wed Aug 09 15:14:29 2006 +0000
+++ b/master/slave.c Fri Sep 01 12:35:41 2006 +0000
@@ -648,67 +648,6 @@
/*****************************************************************************/
-#if 0
-
-/**
- Outputs the values of the CRC faoult counters and resets them.
- \return 0 in case of success, else < 0
-*/
-
-int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)
-{
- ec_datagram_t *datagram;
-
- datagram = &slave->master->simple_datagram;
-
- if (ec_datagram_nprd(datagram, slave->station_address, 0x0300, 4))
- return -1;
- if (unlikely(ec_master_simple_io(slave->master, datagram))) {
- EC_WARN("Reading CRC fault counters failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (!EC_READ_U32(datagram->data)) return 0; // no CRC faults
-
- if (EC_READ_U8(datagram->data))
- EC_WARN("%3i RX-error%s on slave %i, channel A.\n",
- EC_READ_U8(datagram->data),
- EC_READ_U8(datagram->data) == 1 ? "" : "s",
- slave->ring_position);
- if (EC_READ_U8(datagram->data + 1))
- EC_WARN("%3i invalid frame%s on slave %i, channel A.\n",
- EC_READ_U8(datagram->data + 1),
- EC_READ_U8(datagram->data + 1) == 1 ? "" : "s",
- slave->ring_position);
- if (EC_READ_U8(datagram->data + 2))
- EC_WARN("%3i RX-error%s on slave %i, channel B.\n",
- EC_READ_U8(datagram->data + 2),
- EC_READ_U8(datagram->data + 2) == 1 ? "" : "s",
- slave->ring_position);
- if (EC_READ_U8(datagram->data + 3))
- EC_WARN("%3i invalid frame%s on slave %i, channel B.\n",
- EC_READ_U8(datagram->data + 3),
- EC_READ_U8(datagram->data + 3) == 1 ? "" : "s",
- slave->ring_position);
-
- // reset CRC counters
- if (ec_datagram_npwr(datagram, slave->station_address, 0x0300, 4))
- return -1;
- EC_WRITE_U32(datagram->data, 0x00000000);
- if (unlikely(ec_master_simple_io(slave->master, datagram))) {
- EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- return 0;
-}
-
-#endif
-
-/*****************************************************************************/
-
/**
Schedules an EEPROM write operation.
\return 0 in case of success, else < 0
--- a/script/install.sh Wed Aug 09 15:14:29 2006 +0000
+++ b/script/install.sh Fri Sep 01 12:35:41 2006 +0000
@@ -56,7 +56,7 @@
# Update module dependencies
echo " Building module dependencies"
-depmod
+/sbin/depmod
#------------------------------------------------------------------------------
@@ -89,9 +89,7 @@
echo " Installing tools"
cp script/lsec.pl /usr/local/bin/lsec || exit 1
-chmod +x /usr/local/bin/ec_list || exit 1
-rm -f /usr/local/bin/ec_list || exit 1
-ln -s /usr/local/bin/lsec /usr/local/bin/ec_list || exit 1
+chmod +x /usr/local/bin/lsec || exit 1
#------------------------------------------------------------------------------