diff --git a/include/EtherCAT_rt.h b/include/EtherCAT_rt.h
index 1fe72dc1a0b1f794846ba7e43d7edc59e9260bb3..e1d6005e89902f603ad67280c96a2a19e6f6d9f0 100644
--- a/include/EtherCAT_rt.h
+++ b/include/EtherCAT_rt.h
@@ -20,6 +20,9 @@ typedef struct ec_slave_type ec_slave_type_t;
struct ec_slave;
typedef struct ec_slave ec_slave_t;
+struct ec_slave_init;
+typedef struct ec_slave_init ec_slave_init_t;
+
/*****************************************************************************/
ec_master_t *EtherCAT_rt_request_master(unsigned int master_index);
@@ -32,6 +35,10 @@ ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
const char *product_name,
int domain);
+int EtherCAT_rt_register_slave_list(ec_master_t *master,
+ const ec_slave_init_t *slaves,
+ unsigned int count);
+
int EtherCAT_rt_activate_slaves(ec_master_t *master);
int EtherCAT_rt_deactivate_slaves(ec_master_t *master);
@@ -84,4 +91,24 @@ struct ec_slave
/*****************************************************************************/
+/**
+ Beschreibung eines EtherCAT-Slave-Typs.
+
+ Diese Beschreibung dient zur Konfiguration einer bestimmten
+ Slave-Art. Sie enthält die Konfigurationsdaten für die
+ Slave-internen Sync-Manager und FMMU's.
+*/
+
+struct ec_slave_init
+{
+ ec_slave_t **slave_ptr; /**< Zeiger auf den Slave-Zeiger, der mit der
+ Adresse des Slaves belegt werden soll. */
+ unsigned int bus_index; /**< Bus-Index des zu registrierenden Slaves */
+ const char *vendor_name; /**< Name des Herstellers */
+ const char *product_name; /**< Name des Slaves-Typs */
+ unsigned int domain; /**< Domäne, in der registriert werden soll. */
+};
+
+/*****************************************************************************/
+
#endif
diff --git a/master/master.c b/master/master.c
index 69601957be90e46e4372d878debbcefbc7cc6ac0..c3ec67111cda40681c00d56ea282f52723bdb60b 100644
--- a/master/master.c
+++ b/master/master.c
@@ -615,7 +615,7 @@ int ec_state_change(ec_master_t *master, ec_slave_t *slave,
}
if (unlikely(cmd.working_counter != 1)) {
- printk(KERN_ERR "EtherCAT: Could not set state %02X - Device %i (%s %s)"
+ printk(KERN_ERR "EtherCAT: Could not set state %02X - Slave %i (%s %s)"
" did not respond!\n", state_and_ack, slave->ring_position * (-1),
slave->type->vendor_name, slave->type->product_name);
return -1;
@@ -735,7 +735,7 @@ void ec_output_lost_frames(ec_master_t *master)
@param product_name String mit dem Produktnamen
@param domain Domäne, in der der Slave sein soll
- @return 0 bei Erfolg, sonst < 0
+ @return Zeiger auf den Slave bei Erfolg, sonst NULL
*/
ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
@@ -818,6 +818,37 @@ ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
/*****************************************************************************/
+/**
+ Registriert eine ganze Liste von Slaves beim Master.
+
+ @param master Der EtherCAT-Master
+ @param slaves Array von Slave-Initialisierungsstrukturen
+ @param count Anzahl der Strukturen in "slaves"
+
+ @return 0 bei Erfolg, sonst < 0
+*/
+
+int EtherCAT_rt_register_slave_list(ec_master_t *master,
+ const ec_slave_init_t *slaves,
+ unsigned int count)
+{
+ unsigned int i;
+
+ for (i = 0; i < count; i++)
+ {
+ if ((*(slaves[i].slave_ptr) =
+ EtherCAT_rt_register_slave(master, slaves[i].bus_index,
+ slaves[i].vendor_name,
+ slaves[i].product_name,
+ slaves[i].domain)) == NULL)
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
/**
Konfiguriert alle Slaves und setzt den Operational-Zustand.
@@ -1046,7 +1077,7 @@ int EtherCAT_rt_deactivate_slaves(ec_master_t *master)
for (i = 0; i < master->bus_slaves_count; i++)
{
- slave = master->bus_slaves + 1;
+ slave = master->bus_slaves + i;
if (unlikely(ec_state_change(master, slave, EC_SLAVE_STATE_INIT) != 0))
return -1;
@@ -1155,6 +1186,7 @@ void EtherCAT_rt_debug_level(ec_master_t *master, int level)
/*****************************************************************************/
EXPORT_SYMBOL(EtherCAT_rt_register_slave);
+EXPORT_SYMBOL(EtherCAT_rt_register_slave_list);
EXPORT_SYMBOL(EtherCAT_rt_activate_slaves);
EXPORT_SYMBOL(EtherCAT_rt_deactivate_slaves);
EXPORT_SYMBOL(EtherCAT_rt_domain_xio);
diff --git a/master/types.h b/master/types.h
index fc3967fed752609972341b7b82a524758049e75b..1d01743058c62106b6d1d3faacde34bd3e4a486b 100644
--- a/master/types.h
+++ b/master/types.h
@@ -25,7 +25,7 @@
typedef enum
{
- EC_SIMPLE_SLAVE, EC_MAILBOX_SLAVE, EC_NOSYNC_SLAVE
+ EC_SIMPLE_SLAVE, EC_MAILBOX_SLAVE, EC_NOSYNC_SLAVE
}
ec_slave_features_t;
@@ -41,25 +41,25 @@ ec_slave_features_t;
struct ec_slave_type
{
- const char *vendor_name; /**< Name des Herstellers */
- const char *product_name; /**< Name des Slaves-Typs */
- const char *product_desc; /**< Genauere Beschreibung des Slave-Typs */
+ const char *vendor_name; /**< Name des Herstellers */
+ const char *product_name; /**< Name des Slaves-Typs */
+ const char *product_desc; /**< Genauere Beschreibung des Slave-Typs */
- ec_slave_features_t features; /**< Features des Slave-Typs */
+ ec_slave_features_t features; /**< Features des Slave-Typs */
- const unsigned char *sm0; /**< Konfigurationsdaten des
- ersten Sync-Managers */
- const unsigned char *sm1; /**< Konfigurationsdaten des
- zweiten Sync-Managers */
- const unsigned char *sm2; /**< Konfigurationsdaten des
- dritten Sync-Managers */
- const unsigned char *sm3; /**< Konfigurationsdaten des
- vierten Sync-Managers */
+ const unsigned char *sm0; /**< Konfigurationsdaten des
+ ersten Sync-Managers */
+ const unsigned char *sm1; /**< Konfigurationsdaten des
+ zweiten Sync-Managers */
+ const unsigned char *sm2; /**< Konfigurationsdaten des
+ dritten Sync-Managers */
+ const unsigned char *sm3; /**< Konfigurationsdaten des
+ vierten Sync-Managers */
- const unsigned char *fmmu0; /**< Konfigurationsdaten
- der ersten FMMU */
+ const unsigned char *fmmu0; /**< Konfigurationsdaten
+ der ersten FMMU */
- unsigned int process_data_size; /**< Länge der Prozessdaten in Bytes */
+ unsigned int process_data_size; /**< Länge der Prozessdaten in Bytes */
};
/*****************************************************************************/
@@ -73,9 +73,9 @@ struct ec_slave_type
typedef struct slave_ident
{
- unsigned int vendor_id; /**< Hersteller-Code */
- unsigned int product_code; /**< Herstellerspezifischer Produktcode */
- const ec_slave_type_t *type; /**< Zeiger auf den entsprechenden Slave-Typ */
+ unsigned int vendor_id; /**< Hersteller-Code */
+ unsigned int product_code; /**< Herstellerspezifischer Produktcode */
+ const ec_slave_type_t *type; /**< Zeiger auf den entsprechenden Typ */
}
ec_slave_ident_t;
diff --git a/mini/mini.c b/mini/mini.c
index bac0b658a30c978b9606a65767db490ef3f287ba..8a0165a688ba450d3ef98ab368d32cffc384faf7 100644
--- a/mini/mini.c
+++ b/mini/mini.c
@@ -12,8 +12,8 @@
#include <linux/delay.h>
#include <linux/timer.h>
-#include "../include/EtherCAT_rt.h"
-#include "../include/EtherCAT_si.h"
+#include "../include/EtherCAT_rt.h" // Echtzeitschnittstelle
+#include "../include/EtherCAT_si.h" // Slave-Interface-Makros
/*****************************************************************************/
@@ -26,15 +26,13 @@ int dig1;
struct timer_list timer;
unsigned long last_start_jiffies;
-/*****************************************************************************/
+ec_slave_init_t slaves[] = {
+ // Zeiger, Index, Herstellername, Produktname, Domäne
+ { &s_out, 9, "Beckhoff", "EL2004", 1 },
+ { &s_in, 1, "Beckhoff", "EL3102", 1 }
+};
-int __init check_slaves(void)
-{
- s_in = EtherCAT_rt_register_slave(master, 1, "Beckhoff", "EL3102", 1);
- s_out = EtherCAT_rt_register_slave(master, 9, "Beckhoff", "EL2004", 1);
-
- return s_in && s_out;
-}
+#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
/*****************************************************************************/
@@ -69,14 +67,16 @@ int __init init_mini_module(void)
goto out_return;
}
- if (!check_slaves()) {
+ //EtherCAT_rt_debug_level(master, 2);
+
+ if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
printk(KERN_ERR "Could not register slaves!\n");
goto out_release_master;
}
printk("Activating all EtherCAT slaves.\n");
- if (EtherCAT_rt_activate_slaves(master) != 0) {
+ if (EtherCAT_rt_activate_slaves(master)) {
printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
goto out_release_master;
}
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 229a61a39cce1ecaaa2ff29acf8d6d44c931c786..e31e62d3dee068852c747fb2359d5153821ca909 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -57,17 +57,14 @@ ec_slave_t *s_in1, *s_out1, *s_out2, *s_out3;
double value;
int dig1;
-/*****************************************************************************/
-
-static int register_slaves(void)
-{
- s_in1 = EtherCAT_rt_register_slave(master, 1, "Beckhoff", "EL3102", 0);
- s_out1 = EtherCAT_rt_register_slave(master, 8, "Beckhoff", "EL2004", 0);
- s_out2 = EtherCAT_rt_register_slave(master, 9, "Beckhoff", "EL2004", 0);
- s_out3 = EtherCAT_rt_register_slave(master, 10, "Beckhoff", "EL2004", 0);
+ec_slave_init_t slaves[] = {
+ {&s_in1, 1, "Beckhoff", "EL3102", 0},
+ {&s_out1, 8, "Beckhoff", "EL2004", 0},
+ {&s_out2, 9, "Beckhoff", "EL2004", 0},
+ {&s_out3, 10, "Beckhoff", "EL2004", 0}
+};
- return !s_in1 || !s_out1 || !s_out2 || !s_out3;
-}
+#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
/******************************************************************************
*
@@ -194,28 +191,25 @@ int __init init_rt_module(void)
goto out_msr_cleanup;
}
- printk("Registering EtherCAT slaves.\n");
- if (register_slaves()) {
- printk(KERN_ERR "EtherCAT: Could not init slaves!\n");
+ if (EtherCAT_rt_register_slave_list(master, slaves, SLAVE_COUNT)) {
+ printk(KERN_ERR "EtherCAT: Could not register slaves!\n");
goto out_release_master;
}
- printk("Activating all EtherCAT slaves.\n");
-
if (EtherCAT_rt_activate_slaves(master) < 0) {
- printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
- goto out_release_master;
+ printk(KERN_ERR "EtherCAT: Could not activate slaves!\n");
+ goto out_release_master;
}
do_gettimeofday(&process_time);
- msr_time_increment.tv_sec=0;
- msr_time_increment.tv_usec=(unsigned int)(1000000/MSR_ABTASTFREQUENZ);
+ msr_time_increment.tv_sec = 0;
+ msr_time_increment.tv_usec = (unsigned int) (1000000 / MSR_ABTASTFREQUENZ);
- ipipe_init_attr (&attr);
- attr.name = "IPIPE-MSR-MODULE";
+ ipipe_init_attr(&attr);
+ attr.name = "IPIPE-MSR-MODULE";
attr.priority = IPIPE_ROOT_PRIO + 1;
- attr.entry = &domain_entry;
- ipipe_register_domain(&this_domain,&attr);
+ attr.entry = &domain_entry;
+ ipipe_register_domain(&this_domain, &attr);
return 0;