diff --git a/master/domain.c b/master/domain.c
index bbabee7171930fe19b385ebad82063061205536e..347d8726bb7327732bcfb4ac93986c92f4fe2b58 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -122,7 +122,7 @@ int ec_domain_alloc(ec_domain_t *domain, /**< Dom
ec_field_reg_t *field_reg;
ec_slave_t *slave;
ec_fmmu_t *fmmu;
- unsigned int i, j, found;
+ unsigned int i, j;
uint32_t data_offset;
if (domain->data) {
@@ -163,22 +163,15 @@ int ec_domain_alloc(ec_domain_t *domain, /**< Dom
// Alle Prozessdatenzeiger setzen
list_for_each_entry(field_reg, &domain->field_regs, list) {
- found = 0;
for (i = 0; i < field_reg->slave->fmmu_count; i++) {
fmmu = &field_reg->slave->fmmus[i];
if (fmmu->domain == domain && fmmu->sync == field_reg->sync) {
data_offset = fmmu->logical_start_address - base_address
+ field_reg->field_offset;
*field_reg->data_ptr = domain->data + data_offset;
- found = 1;
break;
}
}
-
- if (!found) { // Sollte nie passieren
- EC_ERR("FMMU not found. Please report!\n");
- return -1;
- }
}
// Kommando-Array erzeugen
@@ -224,6 +217,12 @@ void ec_domain_response_count(ec_domain_t *domain, /**< Dom
/**
Registriert ein Datenfeld innerhalb einer Domäne.
+ - Ist \a data_ptr NULL, so wird der Slave nur auf den Typ überprüft.
+ - Wenn \a field_count 0 ist, wird angenommen, dass 1 Feld registriert werden
+ soll.
+ - Wenn \a field_count größer als 1 ist, wird angenommen, dass \a data_ptr
+ auf ein entsprechend großes Array zeigt.
+
\return Zeiger auf den Slave bei Erfolg, sonst NULL
*/
@@ -257,11 +256,6 @@ ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
unsigned int field_counter, i, j, orig_field_index, orig_field_count;
uint32_t field_offset;
- if (!field_count) {
- EC_ERR("field_count may not be 0!\n");
- return NULL;
- }
-
master = domain->master;
// Adresse übersetzen
@@ -281,6 +275,12 @@ ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
return NULL;
}
+ if (!data_ptr) {
+ // Wenn data_ptr NULL, Slave als registriert ansehen (nicht warnen).
+ slave->registered = 1;
+ }
+
+ if (!field_count) field_count = 1;
orig_field_index = field_index;
orig_field_count = field_count;
@@ -292,8 +292,9 @@ ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
field = sync->fields[j];
if (!strcmp(field->name, field_name)) {
if (field_counter++ == field_index) {
- ec_domain_reg_field(domain, slave, sync, field_offset,
- data_ptr++);
+ if (data_ptr)
+ ec_domain_reg_field(domain, slave, sync, field_offset,
+ data_ptr++);
if (!(--field_count)) return slave;
field_index++;
}
@@ -326,7 +327,7 @@ int ecrt_domain_register_field_list(ec_domain_t *domain,
{
ec_field_init_t *field;
- for (field = fields; field->data_ptr; field++)
+ for (field = fields; field->slave_address; field++)
if (!ecrt_domain_register_field(domain, field->slave_address,
field->vendor_name,
field->product_name, field->data_ptr,
diff --git a/mini/mini.c b/mini/mini.c
index ee8bce49446ef0ca01b64432f12e1e1124df2eb7..8132a1b50b86d0f499f28ffeb7ce159074b1b2f8 100644
--- a/mini/mini.c
+++ b/mini/mini.c
@@ -29,25 +29,23 @@ ec_master_t *master = NULL;
ec_domain_t *domain1 = NULL;
// Datenfelder
-void *r_ssi_input, *r_ssi_status;
-void *r_field[9];
-void *r_4102[3];
+void *r_ssi_input, *r_ssi_status, *r_4102[3];
// Kanäle
uint32_t k_pos;
uint8_t k_stat;
ec_field_init_t domain1_fields[] = {
- {&r_ssi_input, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
- {&r_ssi_status, "1", "Beckhoff", "EL5001", "Status", 0, 1},
- {&r_field[1], "2", "Beckhoff", "EL4132", "OutputValue", 0, 1},
- {&r_field[2], "3", "Beckhoff", "EL3162", "InputValue", 0, 1},
+ {&r_ssi_input, "1", "Beckhoff", "EL5001", "InputValue", 0},
+ {&r_ssi_status, "1", "Beckhoff", "EL5001", "Status", 0},
+ {NULL, "2", "Beckhoff", "EL4132", "OutputValue", 0},
+ {NULL, "3", "Beckhoff", "EL3162", "InputValue", 0},
{r_4102, "4", "Beckhoff", "EL4102", "OutputValue", 0, 2},
- {&r_field[4], "5", "Beckhoff", "EL5001", "InputValue", 0, 1},
- {&r_field[5], "6", "Beckhoff", "EL1014", "InputValue", 0, 1},
- {&r_field[6], "7", "Beckhoff", "EL2004", "OutputValue", 0, 1},
- {&r_field[7], "8", "Beckhoff", "EL4132", "OutputValue", 0, 1},
- {&r_field[8], "9", "Beckhoff", "EL4132", "OutputValue", 0, 1},
+ {NULL, "5", "Beckhoff", "EL5001", "InputValue", 0},
+ {NULL, "6", "Beckhoff", "EL1014", "InputValue", 0},
+ {NULL, "7", "Beckhoff", "EL2004", "OutputValue", 0},
+ {NULL, "8", "Beckhoff", "EL4132", "OutputValue", 0},
+ {NULL, "9", "Beckhoff", "EL4132", "OutputValue", 0},
{}
};
@@ -58,7 +56,7 @@ void run(unsigned long data)
static unsigned int counter = 0;
#ifdef ASYNC
- // Prozessdaten emfpangen
+ // Prozessdaten empfangen
ecrt_master_async_receive(master);
ecrt_domain_process(domain1);
@@ -70,13 +68,14 @@ void run(unsigned long data)
ecrt_domain_queue(domain1);
ecrt_master_async_send(master);
#else
- // Prozessdaten senden und emfpangen
+ // Prozessdaten senden und empfangen
ecrt_domain_queue(domain1);
ecrt_master_sync_io(master);
ecrt_domain_process(domain1);
// Prozessdaten verarbeiten
- k_pos = EC_READ_U32(r_ssi);
+ k_pos = EC_READ_U32(r_ssi_input);
+ k_stat = EC_READ_U8(r_ssi_status);
#endif
if (counter) {
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 617ad76859154b1c9e222419a9aa3a2c3dbad2c8..f1bcf5fca34d4d42e3551df07355c0591567779d 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -66,12 +66,12 @@ uint32_t k_postio;
uint32_t k_finished;
ec_field_init_t domain1_fields[] = {
- {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
+ {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0},
{}
};
ec_field_init_t domain2_fields[] = {
- {&r_ssi2, "1", "Beckhoff", "EL5001", "InputValue", 0, 1},
+ {&r_ssi2, "1", "Beckhoff", "EL5001", "InputValue", 0},
{}
};