Reading more base information (incl. whether DC supported).
--- a/master/cdev.c Mon Apr 06 09:48:01 2009 +0000
+++ b/master/cdev.c Tue Apr 07 09:00:20 2009 +0000
@@ -209,6 +209,7 @@
{
ec_ioctl_slave_t data;
const ec_slave_t *slave;
+ int i;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
@@ -242,6 +243,12 @@
data.coe_details = slave->sii.coe_details;
data.general_flags = slave->sii.general_flags;
data.current_on_ebus = slave->sii.current_on_ebus;
+ for (i = 0; i < EC_MAX_PORTS; i++) {
+ data.ports[i] = slave->base_ports[i];
+ }
+ data.fmmu_bit = slave->base_fmmu_bit_operation;
+ data.dc_supported = slave->base_dc_supported;
+ data.dc_range = slave->base_dc_range;
data.al_state = slave->current_state;
data.error_flag = slave->error_flag;
--- a/master/fsm_slave_scan.c Mon Apr 06 09:48:01 2009 +0000
+++ b/master/fsm_slave_scan.c Tue Apr 07 09:00:20 2009 +0000
@@ -247,7 +247,7 @@
}
// read base data
- ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
+ ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 12);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_base;
@@ -263,6 +263,8 @@
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
+ u8 octet;
+ int i;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
@@ -287,8 +289,8 @@
slave->base_type = EC_READ_U8 (datagram->data);
slave->base_revision = EC_READ_U8 (datagram->data + 1);
slave->base_build = EC_READ_U16(datagram->data + 2);
+
slave->base_fmmu_count = EC_READ_U8 (datagram->data + 4);
-
if (slave->base_fmmu_count > EC_MAX_FMMUS) {
EC_WARN("Slave %u has more FMMUs (%u) than the master can"
" handle (%u).\n", slave->ring_position,
@@ -296,6 +298,24 @@
slave->base_fmmu_count = EC_MAX_FMMUS;
}
+ slave->base_sync_count = EC_READ_U8 (datagram->data + 5);
+ if (slave->base_sync_count > EC_MAX_SYNC_MANAGERS) {
+ EC_WARN("Slave %u provides more sync managers (%u) than the master can"
+ " handle (%u).\n", slave->ring_position,
+ slave->base_sync_count, EC_MAX_SYNC_MANAGERS);
+ slave->base_sync_count = EC_MAX_SYNC_MANAGERS;
+ }
+
+ octet = EC_READ_U8(datagram->data + 7);
+ for (i = 0; i < EC_MAX_PORTS; i++) {
+ slave->base_ports[i] = (octet >> (2 * i)) & 0x03;
+ }
+
+ octet = EC_READ_U8(datagram->data + 8);
+ slave->base_fmmu_bit_operation = octet & 0x01;
+ slave->base_dc_supported = (octet >> 2) & 0x01;
+ slave->base_dc_range = ((octet >> 3) & 0x01) ? EC_DC_64 : EC_DC_32;
+
// read data link status
ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
ec_datagram_zero(datagram);
--- a/master/globals.h Mon Apr 06 09:48:01 2009 +0000
+++ b/master/globals.h Tue Apr 07 09:00:20 2009 +0000
@@ -157,6 +157,23 @@
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 distributed clocks range.
+ */
+typedef enum {
+ EC_DC_32, /**< 32 bit. */
+ EC_DC_64 /*< 64 bit for system time, system time offset and
+ port 0 receive time. */
+} ec_slave_dc_range_t;
+
/*****************************************************************************/
/** Convenience macro for printing EtherCAT-specific information to syslog.
--- a/master/ioctl.h Mon Apr 06 09:48:01 2009 +0000
+++ b/master/ioctl.h Tue Apr 07 09:00:20 2009 +0000
@@ -157,6 +157,10 @@
ec_sii_coe_details_t coe_details;
ec_sii_general_flags_t general_flags;
int16_t current_on_ebus;
+ ec_slave_port_desc_t ports[EC_MAX_PORTS];
+ uint8_t fmmu_bit;
+ uint8_t dc_supported;
+ ec_slave_dc_range_t dc_range;
uint8_t al_state;
uint8_t error_flag;
uint8_t sync_count;
--- a/master/slave.c Mon Apr 06 09:48:01 2009 +0000
+++ b/master/slave.c Tue Apr 07 09:00:20 2009 +0000
@@ -86,14 +86,21 @@
slave->base_revision = 0;
slave->base_build = 0;
slave->base_fmmu_count = 0;
+ slave->base_sync_count = 0;
for (i = 0; i < EC_MAX_PORTS; i++) {
+ slave->base_ports[i] = EC_PORT_NOT_IMPLEMENTED;
+
slave->ports[i].dl_link = 0;
slave->ports[i].dl_loop = 0;
slave->ports[i].dl_signal = 0;
slave->sii.physical_layer[i] = 0xFF;
}
+ slave->base_fmmu_bit_operation = 0;
+ slave->base_dc_supported = 0;
+ slave->base_dc_range = EC_DC_32;
+
slave->sii_words = NULL;
slave->sii_nwords = 0;
--- a/master/slave.h Mon Apr 06 09:48:01 2009 +0000
+++ b/master/slave.h Tue Apr 07 09:00:20 2009 +0000
@@ -127,7 +127,12 @@
uint8_t base_type; /**< Slave type. */
uint8_t base_revision; /**< Revision. */
uint16_t base_build; /**< Build number. */
- uint16_t base_fmmu_count; /**< Number of supported FMMUs. */
+ uint8_t base_fmmu_count; /**< Number of supported FMMUs. */
+ uint8_t base_sync_count; /**< Number of supported sync managers. */
+ ec_slave_port_desc_t base_ports[EC_MAX_PORTS]; /**< Port descriptors. */
+ uint8_t base_fmmu_bit_operation; /**< FMMU bit operation is supported. */
+ uint8_t base_dc_supported; /**< Distributed clocks are supported. */
+ ec_slave_dc_range_t base_dc_range; /**< DC range. */
// data link status
ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */
--- a/tool/CommandSlaves.cpp Mon Apr 06 09:48:01 2009 +0000
+++ b/tool/CommandSlaves.cpp Tue Apr 07 09:00:20 2009 +0000
@@ -219,6 +219,7 @@
)
{
SlaveList::const_iterator si;
+ int i;
for (si = slaves.begin(); si != slaves.end(); si++) {
cout << "=== Slave " << dec << si->position << " ===" << endl;
@@ -240,6 +241,50 @@
<< " Serial number: 0x"
<< setw(8) << si->serial_number << endl;
+ cout << "Ports:" << endl;
+ for (i = 0; i < EC_MAX_PORTS; i++) {
+ cout << " " << i << ": ";
+ switch (si->ports[i]) {
+ case EC_PORT_NOT_IMPLEMENTED:
+ cout << "Not implemented.";
+ break;
+ case EC_PORT_NOT_CONFIGURED:
+ cout << "Not configured.";
+ break;
+ case EC_PORT_EBUS:
+ cout << "EBUS.";
+ break;
+ case EC_PORT_MII:
+ cout << "MII.";
+ break;
+ default:
+ cout << "???";
+ }
+ cout << endl;
+ }
+
+ cout << "DL information:" << endl
+ << " FMMU bit operation: "
+ << (si->fmmu_bit ? "yes" : "no") << endl
+ << " Distributed clocks: ";
+ if (si->dc_supported) {
+ cout << "yes (";
+ switch (si->dc_range) {
+ case EC_DC_32:
+ cout << "32 bit";
+ break;
+ case EC_DC_64:
+ cout << "64 bit";
+ break;
+ default:
+ cout << "???";
+ }
+ cout << ")";
+ } else {
+ cout << "no";
+ }
+ cout << endl;
+
if (si->mailbox_protocols) {
list<string> protoList;
list<string>::const_iterator protoIter;