From a07ce08fa6577b5b3b6c63f3637bda3663b07f16 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Thu, 7 May 2009 10:33:26 +0000
Subject: [PATCH] Output DC config in 'ethercat config'.
---
TODO | 1 -
lib/slave_config.c | 12 ++++++------
master/cdev.c | 16 ++++++++++------
master/ioctl.h | 27 ++++++++++-----------------
tool/CommandConfig.cpp | 16 ++++++++++++++++
5 files changed, 42 insertions(+), 30 deletions(-)
diff --git a/TODO b/TODO
index c8f5c792..153f1a62 100644
--- a/TODO
+++ b/TODO
@@ -14,7 +14,6 @@ Version 1.5.0:
- Check 32/64 bit operations.
- Use vendor correction factors when calculating transmission delays.
- Skip setting system time offset when application detached.
- - Output DC configuration in 'ethercat config'.
- How to set the SYNC1 shift time?
- Do not output graph, if topology calculation failed.
* Fix unloading problem of ec_e100 driver.
diff --git a/lib/slave_config.c b/lib/slave_config.c
index 3f109f91..dde679a9 100644
--- a/lib/slave_config.c
+++ b/lib/slave_config.c
@@ -248,14 +248,14 @@ 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_ioctl_sc_dc_t data;
+ ec_ioctl_config_t data;
data.config_index = sc->index;
- data.assign_activate = assign_activate;
- data.sync[0].cycle_time = sync0_cycle_time;
- data.sync[0].shift_time = sync0_shift_time;
- data.sync[1].cycle_time = sync1_cycle_time;
- data.sync[1].shift_time = sync1_shift_time;
+ data.dc_assign_activate = assign_activate;
+ data.dc_sync[0].cycle_time = sync0_cycle_time;
+ data.dc_sync[0].shift_time = sync0_shift_time;
+ data.dc_sync[1].cycle_time = sync1_cycle_time;
+ data.dc_sync[1].shift_time = sync1_shift_time;
if (ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data) == -1) {
fprintf(stderr, "Failed to set assign_activate word.\n");
diff --git a/master/cdev.c b/master/cdev.c
index 198c8ad3..cf9ec7ee 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -1257,6 +1257,10 @@ int ec_cdev_ioctl_config(
}
data.sdo_count = ec_slave_config_sdo_count(sc);
data.slave_position = sc->slave ? sc->slave->ring_position : -1;
+ data.dc_assign_activate = sc->dc_assign_activate;
+ for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
+ data.dc_sync[i] = sc->dc_sync[i];
+ }
up(&master->master_sem);
@@ -1936,7 +1940,7 @@ int ec_cdev_ioctl_sc_dc(
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
- ec_ioctl_sc_dc_t data;
+ ec_ioctl_config_t data;
ec_slave_config_t *sc;
if (unlikely(!priv->requested))
@@ -1953,11 +1957,11 @@ int ec_cdev_ioctl_sc_dc(
return -ENOENT;
}
- ecrt_slave_config_dc(sc, data.assign_activate,
- data.sync[0].cycle_time,
- data.sync[0].shift_time,
- data.sync[1].cycle_time,
- data.sync[1].shift_time);
+ ecrt_slave_config_dc(sc, data.dc_assign_activate,
+ data.dc_sync[0].cycle_time,
+ data.dc_sync[0].shift_time,
+ data.dc_sync[1].cycle_time,
+ data.dc_sync[1].shift_time);
up(&master->master_sem);
diff --git a/master/ioctl.h b/master/ioctl.h
index 61ba7a97..2b8e5f3e 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -95,7 +95,7 @@
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x25, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x26, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x27, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC EC_IOW(0x28, ec_ioctl_sc_dc_t)
+#define EC_IOCTL_SC_DC EC_IOW(0x28, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x29, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2a, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x2b, ec_ioctl_voe_t)
@@ -391,17 +391,12 @@ typedef struct {
} syncs[EC_MAX_SYNC_MANAGERS];
uint32_t sdo_count;
int32_t slave_position;
+ uint16_t dc_assign_activate;
+ ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
} ec_ioctl_config_t;
/*****************************************************************************/
-typedef struct {
- // inputs
- uint64_t app_time;
-} ec_ioctl_app_time_t;
-
-/*****************************************************************************/
-
typedef struct {
// inputs
uint32_t config_index;
@@ -470,15 +465,6 @@ typedef struct {
/*****************************************************************************/
-typedef struct {
- // inputs
- uint32_t config_index;
- uint16_t assign_activate;
- ec_sync_signal_t sync[EC_SYNC_SIGNAL_COUNT];
-} ec_ioctl_sc_dc_t;
-
-/*****************************************************************************/
-
typedef struct {
// inputs
uint32_t config_index;
@@ -541,6 +527,13 @@ typedef struct {
/*****************************************************************************/
+typedef struct {
+ // inputs
+ uint64_t app_time;
+} ec_ioctl_app_time_t;
+
+/*****************************************************************************/
+
/** \endcond */
#endif
diff --git a/tool/CommandConfig.cpp b/tool/CommandConfig.cpp
index ade6104f..58acdf79 100644
--- a/tool/CommandConfig.cpp
+++ b/tool/CommandConfig.cpp
@@ -218,6 +218,22 @@ void CommandConfig::showDetailedConfigs(
cout << " None." << endl;
}
+ if (configIter->dc_assign_activate) {
+ int i;
+
+ cout << "DC configuration:" << endl
+ << " AssignActivate: 0x" << hex << setfill('0')
+ << setw(4) << configIter->dc_assign_activate << endl;
+
+ cout << " Cycle time [ns] Shift time [ns]" << endl;
+ for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
+ cout << " SYNC" << dec << i << setfill(' ') << right
+ << setw(11) << configIter->dc_sync[i].cycle_time
+ << " "
+ << setw(11) << configIter->dc_sync[i].shift_time
+ << endl;
+ }
+ }
cout << endl;
}
}
--
GitLab