diff --git a/include/ecrt.h b/include/ecrt.h
index 6c5733507ffcf78112a03a009a217f4b53b2a12f..20bede579eb7095a9cdcdbe736aff2e932294c28 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -62,7 +62,7 @@ void ecrt_master_async_receive(ec_master_t *master);
void ecrt_master_prepare_async_io(ec_master_t *master);
void ecrt_master_debug(ec_master_t *master, int level);
-void ecrt_master_print(const ec_master_t *master);
+void ecrt_master_print(const ec_master_t *master, unsigned int verbosity);
ec_slave_t *ecrt_master_get_slave(const ec_master_t *, const char *);
diff --git a/master/master.c b/master/master.c
index 014169b60dd9c1463d8b703c796cb30da12b5642..858d7f9747e99464f6b09a0db61412c506d78bf9 100644
--- a/master/master.c
+++ b/master/master.c
@@ -1169,15 +1169,22 @@ void ecrt_master_debug(ec_master_t *master, /**< EtherCAT-Master */
/**
Gibt alle Informationen zum Master aus.
+
+ Verbosity:
+ 0 - Nur Slavetypen und Adressen
+ 1 - mit EEPROM-Informationen
+ >1 - mit SDO-Dictionaries
*/
-void ecrt_master_print(const ec_master_t *master /**< EtherCAT-Master */)
+void ecrt_master_print(const ec_master_t *master, /**< EtherCAT-Master */
+ unsigned int verbosity /**< Geschwätzigkeit */
+ )
{
unsigned int i;
EC_INFO("*** Begin master information ***\n");
for (i = 0; i < master->slave_count; i++)
- ec_slave_print(&master->slaves[i]);
+ ec_slave_print(&master->slaves[i], verbosity);
EC_INFO("*** End master information ***\n");
}
diff --git a/master/slave.c b/master/slave.c
index 2c626be3fda271f7f03f4ed32e7b4a4cf2549e0e..7fe363311a1238d57f57e7fdfd8b8dd32588aeac 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -853,9 +853,16 @@ int ec_slave_set_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */
/**
Gibt alle Informationen über einen EtherCAT-Slave aus.
+
+ Verbosity:
+ 0 - Nur Slavetypen und Adressen
+ 1 - mit EEPROM-Informationen
+ >1 - mit SDO-Dictionaries
*/
-void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
+void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT-Slave */
+ unsigned int verbosity /**< Geschwätzigkeit */
+ )
{
ec_eeprom_sync_t *sync;
ec_eeprom_pdo_t *pdo;
@@ -878,105 +885,111 @@ void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)
EC_INFO("| Ring position: %i, Station address: 0x%04X\n",
slave->ring_position, slave->station_address);
- EC_INFO("| Base information:\n");
- EC_INFO("| Type %u, Revision %i, Build %i\n",
- slave->base_type, slave->base_revision, slave->base_build);
- EC_INFO("| Supported FMMUs: %i, Sync managers: %i\n",
- slave->base_fmmu_count, slave->base_sync_count);
-
- if (slave->sii_mailbox_protocols) {
- EC_INFO("| Mailbox communication:\n");
- EC_INFO("| RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
- slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
- slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
- EC_INFO("| Supported protocols: ");
-
- first = 1;
- if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
- printk("AoE");
- first = 0;
- }
- if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
- if (!first) printk(", ");
- printk("EoE");
- first = 0;
- }
- if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
- if (!first) printk(", ");
- printk("CoE");
- first = 0;
- }
- if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
- if (!first) printk(", ");
- printk("FoE");
- first = 0;
- }
- if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
- if (!first) printk(", ");
- printk("SoE");
- first = 0;
- }
- if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
- if (!first) printk(", ");
- printk("VoE");
+ if (verbosity > 0) // Etwas geschwätziger
+ {
+ EC_INFO("| Base information:\n");
+ EC_INFO("| Type %u, Revision %i, Build %i\n",
+ slave->base_type, slave->base_revision, slave->base_build);
+ EC_INFO("| Supported FMMUs: %i, Sync managers: %i\n",
+ slave->base_fmmu_count, slave->base_sync_count);
+
+ if (slave->sii_mailbox_protocols) {
+ EC_INFO("| Mailbox communication:\n");
+ EC_INFO("| RX mailbox: 0x%04X/%i, TX mailbox: 0x%04X/%i\n",
+ slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
+ slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
+ EC_INFO("| Supported protocols: ");
+
+ first = 1;
+ if (slave->sii_mailbox_protocols & EC_MBOX_AOE) {
+ printk("AoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_EOE) {
+ if (!first) printk(", ");
+ printk("EoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_COE) {
+ if (!first) printk(", ");
+ printk("CoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_FOE) {
+ if (!first) printk(", ");
+ printk("FoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_SOE) {
+ if (!first) printk(", ");
+ printk("SoE");
+ first = 0;
+ }
+ if (slave->sii_mailbox_protocols & EC_MBOX_VOE) {
+ if (!first) printk(", ");
+ printk("VoE");
+ }
+ printk("\n");
}
- printk("\n");
- }
- EC_INFO("| EEPROM data:\n");
-
- if (slave->sii_alias)
- EC_INFO("| Configured station alias: 0x%04X (%i)\n",
- slave->sii_alias, slave->sii_alias);
-
- EC_INFO("| Vendor-ID: 0x%08X, Product code: 0x%08X\n",
- slave->sii_vendor_id, slave->sii_product_code);
- EC_INFO("| Revision number: 0x%08X, Serial number: 0x%08X\n",
- slave->sii_revision_number, slave->sii_serial_number);
-
- if (slave->eeprom_name)
- EC_INFO("| Name: %s\n", slave->eeprom_name);
- if (slave->eeprom_group)
- EC_INFO("| Group: %s\n", slave->eeprom_group);
- if (slave->eeprom_desc)
- EC_INFO("| Description: %s\n", slave->eeprom_desc);
-
- if (!list_empty(&slave->eeprom_syncs)) {
- EC_INFO("| Sync-Managers:\n");
- list_for_each_entry(sync, &slave->eeprom_syncs, list) {
- EC_INFO("| %i: 0x%04X, length %i, control 0x%02X, %s\n",
- sync->index, sync->physical_start_address, sync->length,
- sync->control_register,
- sync->enable ? "enable" : "disable");
+ EC_INFO("| EEPROM data:\n");
+
+ if (slave->sii_alias)
+ EC_INFO("| Configured station alias: 0x%04X (%i)\n",
+ slave->sii_alias, slave->sii_alias);
+
+ EC_INFO("| Vendor-ID: 0x%08X, Product code: 0x%08X\n",
+ slave->sii_vendor_id, slave->sii_product_code);
+ EC_INFO("| Revision number: 0x%08X, Serial number: 0x%08X\n",
+ slave->sii_revision_number, slave->sii_serial_number);
+
+ if (slave->eeprom_name)
+ EC_INFO("| Name: %s\n", slave->eeprom_name);
+ if (slave->eeprom_group)
+ EC_INFO("| Group: %s\n", slave->eeprom_group);
+ if (slave->eeprom_desc)
+ EC_INFO("| Description: %s\n", slave->eeprom_desc);
+
+ if (!list_empty(&slave->eeprom_syncs)) {
+ EC_INFO("| Sync-Managers:\n");
+ list_for_each_entry(sync, &slave->eeprom_syncs, list) {
+ EC_INFO("| %i: 0x%04X, length %i, control 0x%02X, %s\n",
+ sync->index, sync->physical_start_address,
+ sync->length, sync->control_register,
+ sync->enable ? "enable" : "disable");
+ }
}
- }
- list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
- EC_INFO("| %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
- pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
- pdo->name ? pdo->name : "???",
- pdo->index, pdo->sync_manager);
-
- list_for_each_entry(pdo_entry, &pdo->entries, list) {
- EC_INFO("| \"%s\" 0x%04X:%X, %i Bit\n",
- pdo_entry->name ? pdo_entry->name : "???",
- pdo_entry->index, pdo_entry->subindex,
- pdo_entry->bit_length);
+ list_for_each_entry(pdo, &slave->eeprom_pdos, list) {
+ EC_INFO("| %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
+ pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
+ pdo->name ? pdo->name : "???",
+ pdo->index, pdo->sync_manager);
+
+ list_for_each_entry(pdo_entry, &pdo->entries, list) {
+ EC_INFO("| \"%s\" 0x%04X:%X, %i Bit\n",
+ pdo_entry->name ? pdo_entry->name : "???",
+ pdo_entry->index, pdo_entry->subindex,
+ pdo_entry->bit_length);
+ }
}
}
- if (!list_empty(&slave->sdo_dictionary)) {
- EC_INFO("| SDO-Dictionary:\n");
- list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
- EC_INFO("| 0x%04X \"%s\"\n", sdo->index,
- sdo->name ? sdo->name : "");
- EC_INFO("| Type 0x%04X, features: 0x%02X\n",
- sdo->type, sdo->features);
- list_for_each_entry(sdo_entry, &sdo->entries, list) {
- EC_INFO("| 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
- sdo->index, sdo_entry->subindex,
- sdo_entry->name ? sdo_entry->name : "",
- sdo_entry->data_type, sdo_entry->bit_length);
+ if (verbosity > 1) // sehr geschwätzig
+ {
+ if (!list_empty(&slave->sdo_dictionary)) {
+ EC_INFO("| SDO-Dictionary:\n");
+ list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
+ EC_INFO("| 0x%04X \"%s\"\n", sdo->index,
+ sdo->name ? sdo->name : "");
+ EC_INFO("| Type 0x%04X, features: 0x%02X\n",
+ sdo->type, sdo->features);
+ list_for_each_entry(sdo_entry, &sdo->entries, list) {
+ EC_INFO("| 0x%04X:%i \"%s\", type 0x%04X, %i bits\n",
+ sdo->index, sdo_entry->subindex,
+ sdo_entry->name ? sdo_entry->name : "",
+ sdo_entry->data_type, sdo_entry->bit_length);
+ }
}
}
}
diff --git a/master/slave.h b/master/slave.h
index bd99ef7e591b3ff0dbfac056b21eda5c7d2f1aeb..c2d83da45242efcf8b1240ad83d827812c0a9b65 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -250,7 +250,7 @@ int ec_slave_mailbox_receive(ec_slave_t *, uint8_t, uint8_t *, size_t *);
int ec_slave_fetch_sdo_list(ec_slave_t *);
// Misc
-void ec_slave_print(const ec_slave_t *);
+void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_check_crc(ec_slave_t *);
/*****************************************************************************/
diff --git a/mini/mini.c b/mini/mini.c
index 715d33560d737eabad1a0fd531528b4ac1e97c0e..0f22d1fa86ccfaeaa9b2f66c6bccceeb8113015a 100644
--- a/mini/mini.c
+++ b/mini/mini.c
@@ -98,10 +98,7 @@ int __init init_mini_module(void)
goto out_return;
}
- ecrt_master_print(master);
-
printk(KERN_INFO "Registering domain...\n");
-
if (!(domain1 = ecrt_master_create_domain(master)))
{
printk(KERN_ERR "Domain creation failed!\n");
@@ -109,25 +106,27 @@ int __init init_mini_module(void)
}
printk(KERN_INFO "Registering domain fields...\n");
-
if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
printk(KERN_ERR "Field registration failed!\n");
goto out_release_master;
}
printk(KERN_INFO "Activating master...\n");
-
if (ecrt_master_activate(master)) {
printk(KERN_ERR "Failed to activate master!\n");
goto out_release_master;
}
+#if 0
if (ecrt_master_fetch_sdo_lists(master)) {
printk(KERN_ERR "Failed to fetch SDO lists!\n");
goto out_deactivate;
}
+ ecrt_master_print(master, 2);
+#else
+ ecrt_master_print(master, 0);
+#endif
- //ecrt_master_debug(master, 2);
#if 0
if (!(slave = ecrt_master_get_slave(master, "5"))) {
@@ -149,8 +148,6 @@ int __init init_mini_module(void)
}
#endif
- //ecrt_master_debug(master, 0);
-
#if 0
printk(KERN_INFO "Writing alias...\n");
if (ecrt_slave_sdo_write_exp16(slave, 0xBEEF)) {
@@ -165,7 +162,6 @@ int __init init_mini_module(void)
#endif
printk("Starting cyclic sample thread.\n");
-
init_timer(&timer);
timer.function = run;
timer.expires = jiffies + 10; // Das erste Mal sofort feuern
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 32d555a350dd8fd61338b08f888e0258c9394251..33f71052f72618e9af995002f259f0c4f2d89e41 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -200,36 +200,33 @@ int __init init_rt_module(void)
}
printk(KERN_INFO "Registering domains...\n");
-
if (!(domain1 = ecrt_master_create_domain(master))) {
printk(KERN_ERR "Could not register domain!\n");
goto out_release_master;
}
printk(KERN_INFO "Registering domain fields...\n");
-
if (ecrt_domain_register_field_list(domain1, domain1_fields)) {
printk(KERN_ERR "Failed to register domain fields.\n");
goto out_release_master;
}
printk(KERN_INFO "Activating master...\n");
-
if (ecrt_master_activate(master)) {
printk(KERN_ERR "Could not activate master!\n");
goto out_release_master;
}
- ecrt_master_print(master);
-
- //ecrt_master_debug(master, 2);
+#if 0
if (ecrt_master_fetch_sdo_lists(master)) {
printk(KERN_ERR "Failed to fetch SDO lists!\n");
goto out_deactivate;
}
- //ecrt_master_debug(master, 0);
+ ecrt_master_print(master, 2);
+#else
+ ecrt_master_print(master, 0);
+#endif
- ecrt_master_print(master);
#ifdef BLOCK1
if (!(slave = ecrt_master_get_slave(master, "1"))) {
@@ -287,7 +284,6 @@ int __init init_rt_module(void)
attr.priority = IPIPE_ROOT_PRIO + 1;
attr.entry = &domain_entry;
ipipe_register_domain(&this_domain, &attr);
-
return 0;
out_deactivate: