--- a/include/ecrt.h Thu Apr 29 16:33:32 2010 +0200
+++ b/include/ecrt.h Fri Apr 30 10:53:56 2010 +0200
@@ -5,7 +5,7 @@
* 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
@@ -19,9 +19,9 @@
* 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/>.
- *
+ *
* ---
- *
+ *
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
@@ -47,7 +47,7 @@
* ecrt_master_sync_slave_clocks() for offset and drift compensation. The
* EC_TIMEVAL2NANO() macro can be used for epoch time conversion, while the
* ecrt_master_sync_monitor_queue() and ecrt_master_sync_monitor_process()
- * methods can be used to monitor the synchrony.
+ * methods can be used to monitor the synchrony.
* - Improved the callback mechanism. ecrt_master_callbacks() now takes two
* callback functions for sending and receiving datagrams.
* ecrt_master_send_ext() is used to execute the sending of non-application
@@ -138,6 +138,9 @@
*/
#define EC_MAX_STRING_LENGTH 64
+/** Maximum number of slave ports. */
+#define EC_MAX_PORTS 4
+
/** Timeval to nanoseconds conversion.
*
* This macro converts a Unix epoch time to EtherCAT DC time.
@@ -150,7 +153,7 @@
(((TV).tv_sec - 946684800ULL) * 1000000000ULL + (TV).tv_usec * 1000ULL)
/******************************************************************************
- * Data types
+ * Data types
*****************************************************************************/
struct ec_master;
@@ -195,7 +198,7 @@
/** Slave configuration state.
*
* This is used as an output parameter of ecrt_slave_config_state().
- *
+ *
* \see ecrt_slave_config_state().
*/
typedef struct {
@@ -223,12 +226,33 @@
typedef struct {
unsigned int slave_count; /**< Number of slaves in the bus. */
unsigned int link_up : 1; /**< \a true, if the network link is up. */
- uint8_t scan_busy; /**< \a true, while the master is scanning the bus */
+ uint8_t scan_busy; /**< \a true, while the master is scanning the bus */
uint64_t app_time; /**< Application time. */
} ec_master_info_t;
/*****************************************************************************/
+/** EtherCAT slave port descriptor.
+ */
+typedef enum {
+ EC_PORT_NOT_IMPLEMENTED, /**< Port is not implemented. */
+ EC_PORT_NOT_CONFIGURED, /**< Port is not configured. */
+ EC_PORT_EBUS, /**< Port is an e-bus. */
+ EC_PORT_MII /**< Port is a mii. */
+} ec_slave_port_desc_t;
+
+/*****************************************************************************/
+
+/** EtherCAT slave port information.
+ */
+typedef struct {
+ uint8_t link_up; /**< Link detected. */
+ uint8_t loop_closed; /**< Loop closed. */
+ uint8_t signal_detected; /**< Detected signal on RX port. */
+} ec_slave_port_link_t;
+
+/*****************************************************************************/
+
/** Slave information.
*
* This is used as an output parameter of ecrt_master_get_slave().
@@ -243,6 +267,13 @@
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; /**< Used current in mA. */
+ struct {
+ ec_slave_port_desc_t desc;
+ ec_slave_port_link_t link;
+ uint32_t receive_time;
+ uint16_t next_slave;
+ uint32_t delay_to_next_dc;
+ } ports[EC_MAX_PORTS];
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. */
@@ -314,9 +345,9 @@
/*****************************************************************************/
/** PDO configuration information.
- *
+ *
* This is the data type of the \a pdos field in ec_sync_info_t.
- *
+ *
* \see ecrt_slave_config_pdos().
*/
typedef struct {
@@ -365,7 +396,7 @@
uint8_t subindex; /**< PDO entry subindex. */
unsigned int *offset; /**< Pointer to a variable to store the PDO entry's
(byte-)offset in the process data. */
- unsigned int *bit_position; /**< Pointer to a variable to store a bit
+ unsigned int *bit_position; /**< Pointer to a variable to store a bit
position (0-7) within the \a offset. Can be
NULL, in which case an error is raised if the
PDO entry does not byte-align. */
@@ -400,7 +431,7 @@
unsigned int ecrt_version_magic(void);
/** Requests an EtherCAT master for realtime operation.
- *
+ *
* Before an application can access an EtherCAT master, it has to reserve one
* for exclusive use.
*
@@ -808,12 +839,12 @@
* The master has to know the application's time when operating slaves with
* distributed clocks. The time is not incremented by the master itself, so
* this method has to be called cyclically.
- *
+ *
* The time is used when setting the slaves' <tt>System Time Offset</tt> and
* <tt>Cyclic Operation Start Time</tt> registers and when synchronizing the
* DC reference clock to the application time via
* ecrt_master_sync_reference_clock().
- *
+ *
* The time is defined as nanoseconds from 2000-01-01 00:00. Converting an
* epoch time can be done with the EC_TIMEVAL2NANO() macro.
*/
@@ -922,7 +953,7 @@
* This can be called before assigning PDOs via
* ecrt_slave_config_pdo_assign_add(), to clear the default assignment of a
* sync manager.
- *
+ *
* \see ecrt_slave_config_pdos()
*/
void ecrt_slave_config_pdo_assign_clear(
@@ -976,28 +1007,28 @@
* {0x3101, 1, 8}, // status
* {0x3101, 2, 16} // value
* };
- *
+ *
* ec_pdo_entry_info_t el3162_channel2[] = {
* {0x3102, 1, 8}, // status
* {0x3102, 2, 16} // value
* };
- *
+ *
* ec_pdo_info_t el3162_pdos[] = {
* {0x1A00, 2, el3162_channel1},
* {0x1A01, 2, el3162_channel2}
* };
- *
+ *
* ec_sync_info_t el3162_syncs[] = {
* {2, EC_DIR_OUTPUT},
* {3, EC_DIR_INPUT, 2, el3162_pdos},
* {0xff}
* };
- *
+ *
* if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
* // handle error
* }
* \endcode
- *
+ *
* The next example shows, how to configure the PDO assignment only. The
* entries for each assigned PDO are taken from the PDO's default mapping.
* Please note, that PDO entry registration will fail, if the PDO
@@ -1008,11 +1039,11 @@
* {0x1600}, // Channel 1
* {0x1601} // Channel 2
* };
- *
+ *
* ec_sync_info_t syncs[] = {
* {3, EC_DIR_INPUT, 2, pdos},
* };
- *
+ *
* if (ecrt_slave_config_pdos(slave_config_ana_in, 1, syncs)) {
* // handle error
* }
@@ -1054,7 +1085,7 @@
uint16_t entry_index, /**< Index of the PDO entry to register. */
uint8_t entry_subindex, /**< Subindex of the PDO entry to register. */
ec_domain_t *domain, /**< Domain. */
- unsigned int *bit_position /**< Optional address if bit addressing
+ unsigned int *bit_position /**< Optional address if bit addressing
is desired */
);
--- a/lib/master.c Thu Apr 29 16:33:32 2010 +0200
+++ b/lib/master.c Fri Apr 30 10:53:56 2010 +0200
@@ -1,11 +1,11 @@
/******************************************************************************
- *
+ *
* $Id$
- *
+ *
* Copyright (C) 2006-2009 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
@@ -19,9 +19,9 @@
* 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/>.
- *
+ *
* ---
- *
+ *
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
@@ -63,12 +63,12 @@
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
-
+
index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
if (index == -1) {
fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
free(domain);
- return 0;
+ return 0;
}
domain->index = (unsigned int) index;
@@ -92,17 +92,17 @@
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
-
+
data.alias = alias;
data.position = position;
data.vendor_id = vendor_id;
data.product_code = product_code;
-
+
if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
fprintf(stderr, "Failed to create slave config: %s\n",
strerror(errno));
free(sc);
- return 0;
+ return 0;
}
sc->master = master;
@@ -152,6 +152,7 @@
slave_info->serial_number = data.serial_number;
slave_info->alias = data.alias;
slave_info->current_on_ebus = data.current_on_ebus;
+ strncpy((char*) slave_info->ports, (char*) data.ports, sizeof(slave_info->ports));
slave_info->al_state = data.al_state;
slave_info->error_flag = data.error_flag;
slave_info->sync_count = data.sync_count;
--- a/master/globals.h Thu Apr 29 16:33:32 2010 +0200
+++ b/master/globals.h Fri Apr 30 10:53:56 2010 +0200
@@ -97,9 +97,6 @@
/** Word offset of first SII category. */
#define EC_FIRST_SII_CATEGORY_OFFSET 0x40
-/** Maximum number of slave ports. */
-#define EC_MAX_PORTS 4
-
/** Size of a sync manager configuration page. */
#define EC_SYNC_PAGE_SIZE 8
@@ -173,23 +170,6 @@
uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */
} ec_sii_general_flags_t;
-/** EtherCAT slave port descriptor.
- */
-typedef enum {
- EC_PORT_NOT_IMPLEMENTED,
- EC_PORT_NOT_CONFIGURED,
- EC_PORT_EBUS,
- EC_PORT_MII
-} ec_slave_port_desc_t;
-
-/** EtherCAT slave port information.
- */
-typedef struct {
- uint8_t link_up; /**< Link detected. */
- uint8_t loop_closed; /**< Loop closed. */
- uint8_t signal_detected; /**< Detected signal on RX port. */
-} ec_slave_port_link_t;
-
/** EtherCAT slave distributed clocks range.
*/
typedef enum {