From a4e3b404770f03064f995a9d20fdbf020bdf2f0a Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Fri, 31 Mar 2006 09:27:34 +0000
Subject: [PATCH] Link Status ausgelesen.
---
master/slave.c | 37 +++++++++++++++++++++++++++++++++++--
master/slave.h | 5 +++++
rt/msr_module.c | 4 ++--
3 files changed, 42 insertions(+), 4 deletions(-)
diff --git a/master/slave.c b/master/slave.c
index 7fe36331..b385bff1 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -35,12 +35,19 @@ void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */
ec_master_t *master /**< EtherCAT-Master */
)
{
+ unsigned int i;
+
slave->master = master;
slave->base_type = 0;
slave->base_revision = 0;
slave->base_build = 0;
slave->base_fmmu_count = 0;
slave->base_sync_count = 0;
+ for (i = 0; i < 2; i++) {
+ slave->dl_status_link[i] = 0;
+ slave->dl_status_loop[i] = 0;
+ slave->dl_status_comm[i] = 0;
+ }
slave->ring_position = 0;
slave->station_address = 0;
slave->sii_alias = 0;
@@ -135,11 +142,13 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)
int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
{
ec_command_t command;
+ unsigned int i;
+ uint16_t dl_status;
// Read base data
ec_command_init_nprd(&command, slave->station_address, 0x0000, 6);
if (unlikely(ec_master_simple_io(slave->master, &command))) {
- EC_ERR("Reading base datafrom slave %i failed!\n",
+ EC_ERR("Reading base data from slave %i failed!\n",
slave->ring_position);
return -1;
}
@@ -153,6 +162,22 @@ int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)
if (slave->base_fmmu_count > EC_MAX_FMMUS)
slave->base_fmmu_count = EC_MAX_FMMUS;
+ // Read DL status
+ ec_command_init_nprd(&command, slave->station_address, 0x0110, 2);
+ if (unlikely(ec_master_simple_io(slave->master, &command))) {
+ EC_ERR("Reading DL status from slave %i failed!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ dl_status = EC_READ_U16(command.data);
+ for (i = 0; i < 2; i++) {
+ slave->dl_status_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;
+ slave->dl_status_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;
+ slave->dl_status_comm[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;
+ }
+
+ // Read EEPROM data
if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))
return -1;
if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))
@@ -869,7 +894,7 @@ void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT-Slave */
ec_eeprom_pdo_entry_t *pdo_entry;
ec_sdo_t *sdo;
ec_sdo_entry_t *sdo_entry;
- int first;
+ int first, i;
EC_INFO("x-- EtherCAT slave information ---------------\n");
@@ -887,6 +912,14 @@ void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT-Slave */
if (verbosity > 0) // Etwas geschwätziger
{
+ EC_INFO("| Data link status:\n");
+ for (i = 0; i < 2; i++) {
+ EC_INFO("| Port %i: link %s, loop %s, %s\n", i,
+ slave->dl_status_link[i] ? "up" : "down",
+ slave->dl_status_loop[i] ? "closed" : "open",
+ slave->dl_status_comm[i] ? "comm. establ." : "no comm.");
+ }
+
EC_INFO("| Base information:\n");
EC_INFO("| Type %u, Revision %i, Build %i\n",
slave->base_type, slave->base_revision, slave->base_build);
diff --git a/master/slave.h b/master/slave.h
index c2d83da4..a18528fd 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -197,6 +197,11 @@ struct ec_slave
uint16_t base_fmmu_count; /**< Anzahl unterstützter FMMUs */
uint16_t base_sync_count; /**< Anzahl unterstützter Sync-Manager */
+ // Data link status
+ uint8_t dl_status_link[2]; /**< Verbindung erkannt */
+ uint8_t dl_status_loop[2]; /**< Loop geschlossen */
+ uint8_t dl_status_comm[2]; /**< Kommunikation */
+
// Slave information interface
uint16_t sii_alias; /**< Configured station alias */
uint32_t sii_vendor_id; /**< Identifikationsnummer des Herstellers */
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 33f71052..01aee66c 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -38,7 +38,7 @@
#include "../include/ecrt.h"
#define ASYNC
-#define BLOCK1
+//#define BLOCK1
// Defines/Makros
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
@@ -224,7 +224,7 @@ int __init init_rt_module(void)
}
ecrt_master_print(master, 2);
#else
- ecrt_master_print(master, 0);
+ ecrt_master_print(master, 1);
#endif
--
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