diff --git a/master/master.c b/master/master.c
index cccb9ff57297033d7a301d47a43330d2ef84ce64..4a153956384d4afc45dd8c17c0f9278c83f0b6e6 100644
--- a/master/master.c
+++ b/master/master.c
@@ -335,8 +335,7 @@ ec_slave_t *ec_address(const ec_master_t *master,
slave = master->slaves + i;
if (!slave->type) continue;
- if (strcmp(slave->type->vendor_name, "Beckhoff") == 0 &&
- strcmp(slave->type->product_name, "EK1100") == 0) {
+ if (slave->type->bus_coupler) {
coupler_idx++;
slave_idx = 0;
}
@@ -543,7 +542,7 @@ int EtherCAT_rt_master_activate(ec_master_t *master /**< EtherCAT-Master */)
// Slaves that are not registered are only brought into PREOP
// state -> nice blinking and mailbox comm. possible
- if (!slave->registered) {
+ if (!slave->registered && !slave->type->bus_coupler) {
printk(KERN_WARNING "EtherCAT: Slave %i was not registered!\n",
slave->ring_position);
continue;
diff --git a/master/types.c b/master/types.c
index 14aeeded5d42e166b5193afe6922f7605ae970d2..2026492451e24cae10cc7ea5478f358f9779b70b 100644
--- a/master/types.c
+++ b/master/types.c
@@ -25,14 +25,14 @@ const ec_sync_t mailbox_sm1 = {0x18F6, 246, 0x22, {NULL}};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1100 = {
- "Beckhoff", "EK1100", "Bus Coupler",
+ "Beckhoff", "EK1100", "Bus Coupler", 1,
{NULL} // Keine Sync-Manager
};
/*****************************************************************************/
const ec_slave_type_t Beckhoff_EK1110 = {
- "Beckhoff", "EK1110", "Extension terminal",
+ "Beckhoff", "EK1110", "Extension terminal", 0,
{NULL} // Keine Sync-Manager
};
@@ -46,7 +46,7 @@ const ec_sync_t el1014_sm0 = { // Inputs
};
const ec_slave_type_t Beckhoff_EL1014 = {
- "Beckhoff", "EL1014", "4x Digital Input",
+ "Beckhoff", "EL1014", "4x Digital Input", 0,
{&el1014_sm0, NULL}
};
@@ -60,12 +60,12 @@ const ec_sync_t el20XX_sm0 = {
};
const ec_slave_type_t Beckhoff_EL2004 = {
- "Beckhoff", "EL2004", "4x Digital Output",
+ "Beckhoff", "EL2004", "4x Digital Output", 0,
{&el20XX_sm0, NULL}
};
const ec_slave_type_t Beckhoff_EL2032 = {
- "Beckhoff", "EL2032", "2x Digital Output (2A)",
+ "Beckhoff", "EL2032", "2x Digital Output (2A)", 0,
{&el20XX_sm0, NULL}
};
@@ -87,12 +87,12 @@ const ec_sync_t el31X2_sm3 = {
};
const ec_slave_type_t Beckhoff_EL3102 = {
- "Beckhoff", "EL3102", "2x Analog Input diff.",
+ "Beckhoff", "EL3102", "2x Analog Input diff.", 0,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
const ec_slave_type_t Beckhoff_EL3162 = {
- "Beckhoff", "EL3102", "2x Analog Input",
+ "Beckhoff", "EL3102", "2x Analog Input", 0,
{&mailbox_sm0, &mailbox_sm1, &el31X2_sm2, &el31X2_sm3, NULL}
};
@@ -106,12 +106,12 @@ const ec_sync_t el41X2_sm2 = {
};
const ec_slave_type_t Beckhoff_EL4102 = {
- "Beckhoff", "EL4102", "2x Analog Output",
+ "Beckhoff", "EL4102", "2x Analog Output", 0,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
const ec_slave_type_t Beckhoff_EL4132 = {
- "Beckhoff", "EL4132", "2x Analog Output diff.",
+ "Beckhoff", "EL4132", "2x Analog Output diff.", 0,
{&mailbox_sm0, &mailbox_sm1, &el41X2_sm2, NULL}
};
@@ -131,7 +131,7 @@ const ec_sync_t el5001_sm3 = {
};
const ec_slave_type_t Beckhoff_EL5001 = {
- "Beckhoff", "EL5001", "SSI-Interface",
+ "Beckhoff", "EL5001", "SSI-Interface", 0,
{&mailbox_sm0, &mailbox_sm1, &el5001_sm2, &el5001_sm3, NULL}
};
@@ -155,7 +155,7 @@ const ec_sync_t el5101_sm3 = {
const ec_slave_type_t Beckhoff_EL5101 =
{
- "Beckhoff", "EL5101", "Incremental Encoder Interface",
+ "Beckhoff", "EL5101", "Incremental Encoder Interface", 0,
{&mailbox_sm0, &mailbox_sm1, &el5101_sm2, &el5101_sm3, NULL}
};
diff --git a/master/types.h b/master/types.h
index 858afc11a541aef9c976c0534cdfc0aa971aef5f..83702f420465639a1a6002d99a02df24a44e82d3 100644
--- a/master/types.h
+++ b/master/types.h
@@ -63,6 +63,9 @@ typedef struct ec_slave_type
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
const char *description; /**< Genauere Beschreibung des Slave-Typs */
+ uint8_t bus_coupler; /**< Dieser Typ ist ein Buskoppler. Diese dienen als
+ Anker für die Adressierung und müssen nicht
+ registriert werden. */
const ec_sync_t *sync_managers[EC_MAX_SYNC]; /**< Sync-Manager
Konfigurationen */
}
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 4b7599e3fcc77445f2087e96225353f947226e01..f9719b10e99cabe4f97bbc566330bcad17fa473b 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -52,17 +52,15 @@ ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// Prozessdaten
-uint8_t *dig_out1;
-uint16_t *ssi_value;
-uint16_t *inc_value;
+void *r_ssi;
+void *r_inc;
-uint32_t angle0;
+uint32_t k_angle;
+uint32_t k_pos;
ec_field_init_t domain1_fields[] = {
- {},
- {(void **) &ssi_value, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
- {(void **) &dig_out1, "2", "Beckhoff", "EL2004", ec_opvalue, 0, 1},
- {(void **) &inc_value, "0:4", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
+ {(void **) &r_ssi, "1", "Beckhoff", "EL5001", ec_ipvalue, 0, 1},
+ {(void **) &r_inc, "0:3", "Beckhoff", "EL5101", ec_ipvalue, 0, 1},
{}
};
@@ -73,7 +71,18 @@ static void msr_controller_run(void)
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(domain1);
- //angle0 = (uint32_t) *inc_value;
+ k_angle = EC_READ_U16(r_inc);
+ k_pos = EC_READ_U32(r_ssi);
+}
+
+/*****************************************************************************/
+
+int msr_globals_register(void)
+{
+ msr_reg_kanal("/angle0", "", &k_angle, TUINT);
+ msr_reg_kanal("/pos0", "", &k_pos, TUINT);
+
+ return 0;
}
/*****************************************************************************/
@@ -106,15 +115,6 @@ void domain_entry(void)
/*****************************************************************************/
-int msr_globals_register(void)
-{
- msr_reg_kanal("/angle0", "", &angle0, TUINT);
-
- return 0;
-}
-
-/*****************************************************************************/
-
int __init init_rt_module(void)
{
struct ipipe_domain_attr attr; //ipipe