diff --git a/TODO b/TODO
index 2958b41c1913650364ce73247045ec70568e43ed..8dce3bf7df3d041b1b4cb4edd730f7d45b96ead7 100644
--- a/TODO
+++ b/TODO
@@ -8,8 +8,6 @@ $Id$
Version 1.4.0:
-* Supply new ec_master_state_t.
-* Implement ecrt_slave_config_state().
* Remove get_cycles() calls and references to cpu_khz to increase
portability.
* Make ecrt_master_slave_config() return no error when slave is not present
diff --git a/examples/mini/mini.c b/examples/mini/mini.c
index e547276da2b48cb3cae93a6c8a34dcf1252e6adb..a0eb02d53e5b3a89deadc6d5485e56072c29971f 100644
--- a/examples/mini/mini.c
+++ b/examples/mini/mini.c
@@ -60,6 +60,9 @@ spinlock_t master_lock = SPIN_LOCK_UNLOCKED;
static ec_domain_t *domain1 = NULL;
static ec_domain_state_t domain1_state = {};
+static ec_slave_config_t *sc_ana_in = NULL;
+static ec_slave_config_state_t sc_ana_in_state = {};
+
static struct timer_list timer;
static unsigned int counter = 0;
@@ -128,14 +131,14 @@ void check_domain1_state(void)
{
ec_domain_state_t ds;
+ spin_lock(&master_lock);
ecrt_domain_state(domain1, &ds);
- if (ds.working_counter != domain1_state.working_counter)
- printk(KERN_INFO PFX "domain1 working_counter changed to %u.\n",
- ds.working_counter);
+ spin_unlock(&master_lock);
+ if (ds.working_counter != domain1_state.working_counter)
+ printk(KERN_INFO PFX "Domain1: WC %u.\n", ds.working_counter);
if (ds.wc_state != domain1_state.wc_state)
- printk(KERN_INFO PFX "domain1 wc_state changed to %u.\n",
- ds.wc_state);
+ printk(KERN_INFO PFX "Domain1: State %u.\n", ds.wc_state);
domain1_state = ds;
}
@@ -150,16 +153,39 @@ void check_master_state(void)
ecrt_master_state(master, &ms);
spin_unlock(&master_lock);
- if (ms.slaves_responding != master_state.slaves_responding) {
- printk(KERN_INFO PFX "slaves_responding changed to %u.\n",
- ms.slaves_responding);
- }
+ if (ms.slaves_responding != master_state.slaves_responding)
+ printk(KERN_INFO PFX "%u slave(s).\n", ms.slaves_responding);
+ if (ms.al_states != master_state.al_states)
+ printk(KERN_INFO PFX "AL states: 0x%02X.\n", ms.al_states);
+ if (ms.link_up != master_state.link_up)
+ printk(KERN_INFO PFX "Link is %s.\n", ms.link_up ? "up" : "down");
master_state = ms;
}
/*****************************************************************************/
+void check_slave_config_states(void)
+{
+ ec_slave_config_state_t s;
+
+ spin_lock(&master_lock);
+ ecrt_slave_config_state(sc_ana_in, &s);
+ spin_unlock(&master_lock);
+
+ if (s.al_state != sc_ana_in_state.al_state)
+ printk(KERN_INFO PFX "AnaIn: State 0x%02X.\n", s.al_state);
+ if (s.online != sc_ana_in_state.online)
+ printk(KERN_INFO PFX "AnaIn: %s.\n", s.online ? "online" : "offline");
+ if (s.operational != sc_ana_in_state.operational)
+ printk(KERN_INFO PFX "AnaIn: %soperational.\n",
+ s.operational ? "" : "Not ");
+
+ sc_ana_in_state = s;
+}
+
+/*****************************************************************************/
+
#ifdef SDO_ACCESS
void read_sdo(void)
{
@@ -207,6 +233,9 @@ void cyclic_task(unsigned long data)
// check for master state (optional)
check_master_state();
+
+ // check for islave configuration state(s) (optional)
+ check_slave_config_states();
#ifdef SDO_ACCESS
// read process data Sdo
@@ -269,14 +298,15 @@ int __init init_mini_module(void)
goto out_release_master;
}
-#ifdef CONFIGURE_PDOS
- printk(KERN_INFO PFX "Configuring Pdos...\n");
- if (!(sc = ecrt_master_slave_config(master, 0, 1, Beckhoff_EL3162))) {
+ if (!(sc_ana_in = ecrt_master_slave_config(
+ master, 0, 1, Beckhoff_EL3162))) {
printk(KERN_ERR PFX "Failed to get slave configuration.\n");
goto out_release_master;
}
- if (ecrt_slave_config_pdos(sc, EC_END, el3162_pdos)) {
+#ifdef CONFIGURE_PDOS
+ printk(KERN_INFO PFX "Configuring Pdos...\n");
+ if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_pdos)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
goto out_release_master;
}
diff --git a/include/ecrt.h b/include/ecrt.h
index b5f94d07ad70a14846353a78c3850df3d1779054..d43ffa7ad5947151b84baa30b43f6716cb77aea2 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -157,15 +157,16 @@ typedef struct ec_sdo_request ec_sdo_request_t; /**< \see ec_sdo_request. */
*/
typedef struct {
unsigned int slaves_responding; /**< Number of slaves in the bus. */
- uint8_t slave_states; /**< Application-layer states of all slaves.
- The states are coded in the lower 4 bits. If a bit
- is set, it means that at least one slave in the
- bus is in the corresponding state:
- - Bit 0: \a INIT
- - Bit 1: \a PREOP
- - Bit 2: \a SAFEOP
- - Bit 3: \a OP */
- uint8_t link_up; /**< \a true, if the network link is up. */
+ unsigned int al_states : 4; /**< Application-layer states of all slaves.
+ The states are coded in the lower 4 bits.
+ If a bit is set, it means that at least one
+ slave in the bus is in the corresponding
+ state:
+ - Bit 0: \a INIT
+ - Bit 1: \a PREOP
+ - Bit 2: \a SAFEOP
+ - Bit 3: \a OP */
+ unsigned int link_up : 1; /**< \a true, if the network link is up. */
} ec_master_state_t;
/*****************************************************************************/
@@ -177,17 +178,17 @@ typedef struct {
* \see ecrt_slave_config_state().
*/
typedef struct {
- uint8_t slave_state; /**< The application-layer state of the slave.
- - 1: \a INIT
- - 2: \a PREOP
- - 4: \a SAFEOP
- - 8: \a OP
-
- Note that each state is coded in a different
- bit! */
unsigned int online : 1; /**< The slave is online. */
unsigned int operational : 1; /**< The slave was brought into \a OP state
using the specified configuration. */
+ unsigned int al_state : 4; /**< The application-layer state of the slave.
+ - 1: \a INIT
+ - 2: \a PREOP
+ - 4: \a SAFEOP
+ - 8: \a OP
+
+ Note that each state is coded in a different
+ bit! */
} ec_slave_config_state_t;
/*****************************************************************************/
diff --git a/master/master.c b/master/master.c
index 1cf543f473d1e068084a0badff75915eb46bd979..6d3da8137a6ffdd7bd0900c50bc8ba679895a011 100644
--- a/master/master.c
+++ b/master/master.c
@@ -1372,7 +1372,7 @@ void ecrt_master_callbacks(ec_master_t *master, int (*request_cb)(void *),
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
state->slaves_responding = master->fsm.slaves_responding;
- state->slave_states = master->fsm.slave_states;
+ state->al_states = master->fsm.slave_states;
state->link_up = master->main_device.link_state;
}
diff --git a/master/slave_config.c b/master/slave_config.c
index 700bd15c88dec2c7fa7b9ffbac74f2c120f28316..656185900390c4526efe779122c1e51ea692bc99 100644
--- a/master/slave_config.c
+++ b/master/slave_config.c
@@ -618,6 +618,22 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
/*****************************************************************************/
+void ecrt_slave_config_state(const ec_slave_config_t *sc,
+ ec_slave_config_state_t *state)
+{
+ state->online = sc->slave ? 1 : 0;
+ if (state->online) {
+ state->operational =
+ sc->slave->current_state == EC_SLAVE_STATE_OP;
+ state->al_state = sc->slave->current_state;
+ } else {
+ state->operational = 0;
+ state->al_state = EC_SLAVE_STATE_UNKNOWN;
+ }
+}
+
+/*****************************************************************************/
+
/** \cond */
EXPORT_SYMBOL(ecrt_slave_config_pdo_assign_add);
@@ -631,6 +647,7 @@ EXPORT_SYMBOL(ecrt_slave_config_sdo8);
EXPORT_SYMBOL(ecrt_slave_config_sdo16);
EXPORT_SYMBOL(ecrt_slave_config_sdo32);
EXPORT_SYMBOL(ecrt_slave_config_create_sdo_request);
+EXPORT_SYMBOL(ecrt_slave_config_state);
/** \endcond */