From 75d250e98be06f2fa09deecca60b7f4193141c0c Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Wed, 29 Apr 2009 09:43:04 +0000
Subject: [PATCH] Bus topology calculation.
---
master/cdev.c | 5 +++++
master/fsm_master.c | 3 +++
master/ioctl.h | 1 +
master/master.c | 51 ++++++++++++++++++++++++++++++++++++++++++
master/master.h | 1 +
master/slave.c | 2 ++
master/slave.h | 1 +
tool/CommandSlaves.cpp | 15 +++++++++----
8 files changed, 75 insertions(+), 4 deletions(-)
diff --git a/master/cdev.c b/master/cdev.c
index 496f7627..f1a5a80d 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -262,6 +262,11 @@ int ec_cdev_ioctl_slave(
data.ports[i].dl_loop = slave->ports[i].dl_loop;
data.ports[i].dl_signal = slave->ports[i].dl_signal;
data.dc_receive_times[i] = slave->dc_receive_times[i];
+ if (slave->next_slave[i]) {
+ data.next_slave[i] = slave->next_slave[i]->ring_position;
+ } else {
+ data.next_slave[i] = 0xffff;
+ }
}
data.fmmu_bit = slave->base_fmmu_bit_operation;
data.dc_supported = slave->base_dc_supported;
diff --git a/master/fsm_master.c b/master/fsm_master.c
index 166d68bc..b33c75b8 100644
--- a/master/fsm_master.c
+++ b/master/fsm_master.c
@@ -867,6 +867,9 @@ void ec_fsm_master_state_scan_slave(
// find DC reference clock
ec_master_find_dc_ref_clock(master);
+
+ // calculate bus topology
+ ec_master_calc_topology(master);
// Attach slave configurations
ec_master_attach_slave_configs(master);
diff --git a/master/ioctl.h b/master/ioctl.h
index 06740f8d..fe7cc3dd 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -167,6 +167,7 @@ typedef struct {
int16_t current_on_ebus;
ec_slave_port_desc_t port_descs[EC_MAX_PORTS];
ec_slave_port_t ports[EC_MAX_PORTS];
+ uint16_t next_slave[EC_MAX_PORTS];
uint8_t fmmu_bit;
uint8_t dc_supported;
ec_slave_dc_range_t dc_range;
diff --git a/master/master.c b/master/master.c
index 3b312d4d..7deec24e 100644
--- a/master/master.c
+++ b/master/master.c
@@ -1373,6 +1373,57 @@ void ec_master_find_dc_ref_clock(
ec_datagram_frmw(&master->sync_datagram, ref_clock_addr, 0x0910, 4);
}
+/*****************************************************************************/
+
+/** Calculates the bus topology; recursion function.
+ */
+int ec_master_calc_topology_rec(
+ ec_master_t *master, /**< EtherCAT master. */
+ ec_slave_t *port0_slave, /**< Slave at port 0. */
+ unsigned int *slave_position /**< Slave position. */
+ )
+{
+ ec_slave_t *slave = master->slaves + *slave_position;
+ unsigned int i;
+ int ret;
+
+ slave->next_slave[0] = port0_slave;
+
+ for (i = 1; i < EC_MAX_PORTS; i++) {
+ if (!slave->ports[i].dl_loop) {
+ *slave_position = *slave_position + 1;
+ if (*slave_position < master->slave_count) {
+ slave->next_slave[i] = master->slaves + *slave_position;
+ ret = ec_master_calc_topology_rec(master,
+ slave, slave_position);
+ if (ret)
+ return ret;
+ } else {
+ return -1;
+ }
+ }
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Calculates the bus topology.
+ */
+void ec_master_calc_topology(
+ ec_master_t *master /**< EtherCAT master. */
+ )
+{
+ unsigned int slave_position = 0;
+
+ if (master->slave_count == 0)
+ return;
+
+ if (ec_master_calc_topology_rec(master, NULL, &slave_position))
+ EC_ERR("Failed to calculate bus topology.\n");
+}
+
/******************************************************************************
* Application interface
*****************************************************************************/
diff --git a/master/master.h b/master/master.h
index b7659f08..34e08120 100644
--- a/master/master.h
+++ b/master/master.h
@@ -234,6 +234,7 @@ ec_slave_config_t *ecrt_master_slave_config_err(ec_master_t *, uint16_t,
uint16_t, uint32_t, uint32_t);
void ec_master_find_dc_ref_clock(ec_master_t *);
+void ec_master_calc_topology(ec_master_t *);
/*****************************************************************************/
diff --git a/master/slave.c b/master/slave.c
index ef406dc8..f2a928be 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -97,6 +97,8 @@ void ec_slave_init(
slave->sii.physical_layer[i] = 0xFF;
slave->dc_receive_times[i] = 0U;
+
+ slave->next_slave[i] = NULL;
}
slave->base_fmmu_bit_operation = 0;
diff --git a/master/slave.h b/master/slave.h
index a470c940..75611650 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -131,6 +131,7 @@ struct ec_slave
// data link status
ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */
+ ec_slave_t *next_slave[EC_MAX_PORTS]; /**< Connected slaves. */
// SII
uint16_t *sii_words; /**< Complete SII image. */
diff --git a/tool/CommandSlaves.cpp b/tool/CommandSlaves.cpp
index c010e573..2642da32 100644
--- a/tool/CommandSlaves.cpp
+++ b/tool/CommandSlaves.cpp
@@ -266,7 +266,7 @@ void CommandSlaves::showSlaves(
cout << "no" << endl;
}
- cout << "Port Type Link Loop Signal";
+ cout << "Port Type Link Loop Signal NextSlave";
if (si->dc_supported)
cout << " RxTime Diff";
cout << endl;
@@ -294,11 +294,18 @@ void CommandSlaves::showSlaves(
<< (si->ports[i].dl_link ? "up" : "down")
<< " " << setw(6)
<< (si->ports[i].dl_loop ? "closed" : "open")
- << " " << setw(3)
- << (si->ports[i].dl_signal ? "yes" : "no");
+ << " " << setw(6)
+ << (si->ports[i].dl_signal ? "yes" : "no")
+ << " " << setw(9) << right;
+
+ if (si->next_slave[i] != 0xffff) {
+ cout << dec << si->next_slave[i];
+ } else {
+ cout << "-";
+ }
if (si->dc_supported) {
- cout << " " << setw(10) << right;
+ cout << " " << setw(10) << right;
if (si->ports[i].dl_signal) {
cout << dec << si->dc_receive_times[i];
} else {
--
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