diff --git a/TODO b/TODO
index f6de929c608d8b3d00ea21239169b109bb48fa04..514dbac853a4236bfb04a5d84cc3af7b7b8b3787 100644
--- a/TODO
+++ b/TODO
@@ -44,6 +44,7 @@ Version 1.5.0:
* Read AL status code on spontaneous state change.
* Fix clearing domains etc. when not activated and releasing.
* Output -EPROTO if mailbox protocol is not supported.
+* Only output watchdog config if not default.
Future issues:
diff --git a/configure.ac b/configure.ac
index 68d2ac70e12fdc2db4610f91b3a353afb419db6a..3d8d93cff01ca42314c1cf60bc675d6b12ac16cf 100644
--- a/configure.ac
+++ b/configure.ac
@@ -512,6 +512,30 @@ if test "x${hrtimer}" = "x1"; then
AC_DEFINE([EC_USE_HRTIMER], [1], [Use hrtimer for scheduling])
fi
+#------------------------------------------------------------------------------
+# Read alias address from register
+#------------------------------------------------------------------------------
+
+AC_ARG_ENABLE([regalias],
+ AS_HELP_STRING([--enable-regalias],
+ [Read alias adresses from register (default: no)]),
+ [
+ case "${enableval}" in
+ yes) regalias=1
+ ;;
+ no) regalias=0
+ ;;
+ *) AC_MSG_ERROR([Invalid value for --enable-regalias])
+ ;;
+ esac
+ ],
+ [regalias=0]
+)
+
+if test "x${regalias}" = "x1"; then
+ AC_DEFINE([EC_REGALIAS], [1], [Read alias adresses from register])
+fi
+
#------------------------------------------------------------------------------
# Command-line tool
#-----------------------------------------------------------------------------
diff --git a/examples/rtai/rtai_sample.c b/examples/rtai/rtai_sample.c
index eb31b78c9523ed5f89f95dcdf224fa6f1d57ac2b..9748907f1a511905faf2b579acfdd644376e60d2 100644
--- a/examples/rtai/rtai_sample.c
+++ b/examples/rtai/rtai_sample.c
@@ -76,8 +76,8 @@ static cycles_t t_last_cycle = 0, t_critical;
// process data
static uint8_t *domain1_pd; // process data memory
-#define AnaInSlavePos 0, 1
-#define DigOutSlavePos 0, 3
+#define AnaInSlavePos 0, 3
+#define DigOutSlavePos 0, 2
#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
@@ -286,8 +286,8 @@ int __init init_mod(void)
t_critical = cpu_khz * 1000 / FREQUENCY - cpu_khz * INHIBIT_TIME / 1000;
master = ecrt_request_master(0);
- if (IS_ERR(master)) {
- ret = PTR_ERR(master);
+ if (!master) {
+ ret = -EBUSY;
printk(KERN_ERR PFX "Requesting master 0 failed!\n");
goto out_return;
}
diff --git a/master/cdev.c b/master/cdev.c
index e2eca4db13fa3ee3042820a040d46c31666fd5af..2440c287837d97d69adffac1be8b98e04ba6c34c 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -1724,7 +1724,6 @@ int ec_cdev_ioctl_deactivate(
return 0;
}
-
/*****************************************************************************/
/** Set max. number of databytes in a cycle
diff --git a/master/fsm_slave_scan.c b/master/fsm_slave_scan.c
index 7bc3a39386e37b9761e894b7acefafb231a8f094..460a1336e08e61c923d3f464eed0a2b118f9a978 100644
--- a/master/fsm_slave_scan.c
+++ b/master/fsm_slave_scan.c
@@ -52,7 +52,9 @@ void ec_fsm_slave_scan_state_dc_times(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_datalink(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
+#ifdef EC_REGALIAS
void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *);
+#endif
void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *);
@@ -61,7 +63,9 @@ void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_error(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
+#ifdef EC_REGALIAS
void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
+#endif
void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
@@ -694,7 +698,15 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
}
}
+#ifdef EC_REGALIAS
ec_fsm_slave_scan_enter_regalias(fsm);
+#else
+ if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
+ ec_fsm_slave_scan_enter_preop(fsm);
+ } else {
+ fsm->state = ec_fsm_slave_scan_state_end;
+ }
+#endif
return;
end:
@@ -703,13 +715,12 @@ end:
fsm->state = ec_fsm_slave_scan_state_error;
}
-
/*****************************************************************************/
-/**
- Slave scan entry function: REGALIAS.
-*/
+#ifdef EC_REGALIAS
+/** Slave scan entry function: REGALIAS.
+ */
void ec_fsm_slave_scan_enter_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
@@ -727,9 +738,8 @@ void ec_fsm_slave_scan_enter_regalias(
/*****************************************************************************/
-/**
- Slave scan state: REGALIAS.
-*/
+/** Slave scan state: REGALIAS.
+ */
void ec_fsm_slave_scan_state_regalias(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
@@ -754,6 +764,7 @@ void ec_fsm_slave_scan_state_regalias(
EC_SLAVE_DBG(slave, 1, "Read alias %u from register.\n",
slave->effective_alias);
}
+
if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
ec_fsm_slave_scan_enter_preop(fsm);
} else {
@@ -761,6 +772,8 @@ void ec_fsm_slave_scan_state_regalias(
}
}
+#endif // defined EC_REGALIAS
+
/*****************************************************************************/
/** Enter slave scan state PREOP.
diff --git a/master/master.c b/master/master.c
index 96c2626098944b743a44f401314a593d424dda50..4bc2f8491509f2a28455b574308c4735019abb24 100644
--- a/master/master.c
+++ b/master/master.c
@@ -439,6 +439,20 @@ void ec_master_clear_domains(ec_master_t *master)
/*****************************************************************************/
+/** Clear the configuration applied by the application.
+ */
+void ec_master_clear_config(
+ ec_master_t *master /**< EtherCAT master. */
+ )
+{
+ down(&master->master_sem);
+ ec_master_clear_domains(master);
+ ec_master_clear_slave_configs(master);
+ up(&master->master_sem);
+}
+
+/*****************************************************************************/
+
/** Internal sending callback.
*/
void ec_master_internal_send_cb(
@@ -653,15 +667,17 @@ void ec_master_leave_operation_phase(
ec_master_t *master /**< EtherCAT master */
)
{
- if (master->active)
- ecrt_master_deactivate(master);
+ if (master->active) {
+ ecrt_master_deactivate(master); // also clears config
+ } else {
+ ec_master_clear_config(master);
+ }
EC_MASTER_DBG(master, 1, "OPERATION -> IDLE.\n");
master->phase = EC_IDLE;
}
-
/*****************************************************************************/
/** Injects external datagrams that fit into the datagram queue.
@@ -1989,8 +2005,7 @@ void ecrt_master_deactivate(ec_master_t *master)
int eoe_was_running;
#endif
- EC_MASTER_DBG(master, 1, "ecrt_master_deactivate(master = 0x%p)\n",
- master);
+ EC_MASTER_DBG(master, 1, "%s(master = 0x%p)\n", __func__, master);
if (!master->active) {
EC_MASTER_WARN(master, "%s: Master not active.\n", __func__);
@@ -2007,10 +2022,7 @@ void ecrt_master_deactivate(ec_master_t *master)
master->receive_cb = ec_master_internal_receive_cb;
master->cb_data = master;
- down(&master->master_sem);
- ec_master_clear_domains(master);
- ec_master_clear_slave_configs(master);
- up(&master->master_sem);
+ ec_master_clear_config(master);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
diff --git a/master/master.h b/master/master.h
index c4ea963bc169c34e763d8a049a911dceccf414f0..d0cd7b8a7324cae878afa79af2107f3e8fe884c7 100644
--- a/master/master.h
+++ b/master/master.h
@@ -170,11 +170,12 @@ struct ec_master {
unsigned int injection_seq_rt; /**< Datagram injection sequence number
for the realtime side. */
-
ec_slave_t *slaves; /**< Array of slaves on the bus. */
unsigned int slave_count; /**< Number of slaves on the bus. */
+ /* Configuration applied by the application. */
struct list_head configs; /**< List of slave configurations. */
+ struct list_head domains; /**< List of domains. */
u64 app_time; /**< Time of the last ecrt_master_sync() call. */
u64 app_start_time; /**< Application start time. */
@@ -213,7 +214,6 @@ struct ec_master {
struct list_head external_datagram_queue; /**< External Datagram queue. */
unsigned int send_interval; /**< Interval between calls to ecrt_master_send */
size_t max_queue_size; /**< Maximum size of datagram queue */
- struct list_head domains; /**< List of domains. */
unsigned int debug_level; /**< Master debug level. */
ec_stats_t stats; /**< Cyclic statistics. */
@@ -242,7 +242,6 @@ struct ec_master {
struct list_head reg_requests; /**< Register requests. */
wait_queue_head_t reg_queue; /**< Wait queue for register requests. */
-
};
/*****************************************************************************/
diff --git a/master/slave_config.c b/master/slave_config.c
index 63eeb2550a7b132cdb528f5fc0538f6695651640..cdd45ceb88458b2ea6089c21b058224d074144aa 100644
--- a/master/slave_config.c
+++ b/master/slave_config.c
@@ -687,6 +687,12 @@ void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
{
+ EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, assign_activate = 0x%04X,"
+ " sync0_cycle = %u, sync0_shift = %u,"
+ " sync1_cycle = %u, sync1_shift = %u\n",
+ __func__, sc, assign_activate, sync0_cycle_time, sync0_shift_time,
+ sync1_cycle_time, sync1_shift_time);
+
sc->dc_assign_activate = assign_activate;
sc->dc_sync[0].cycle_time = sync0_cycle_time;
sc->dc_sync[0].shift_time = sync0_shift_time;