author | Florian Pose <fp@igh-essen.com> |
Wed, 29 Apr 2009 09:43:04 +0000 | |
changeset 1421 | 043a518831b2 |
parent 1417 | 7c2d5d69134c |
child 1434 | 4c6fe0ae37f1 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT master userspace library. |
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* |
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* The IgH EtherCAT master userspace library is free software; you can |
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* redistribute it and/or modify it under the terms of the GNU Lesser General |
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* Public License as published by the Free Software Foundation; version 2.1 |
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* of the License. |
1287 | 13 |
* |
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* The IgH EtherCAT master userspace library is distributed in the hope that |
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
1287 | 18 |
* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with the IgH EtherCAT master userspace library. If not, see |
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* <http://www.gnu.org/licenses/>. |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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|
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#include <stdlib.h> |
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#include <sys/ioctl.h> |
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#include <stdio.h> |
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#include <errno.h> |
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#include <string.h> |
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#include <sys/mman.h> |
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|
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#include "master.h" |
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#include "domain.h" |
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#include "slave_config.h" |
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#include "master/ioctl.h" |
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/*****************************************************************************/ |
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ec_domain_t *ecrt_master_create_domain(ec_master_t *master) |
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{ |
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ec_domain_t *domain; |
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int index; |
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|
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domain = malloc(sizeof(ec_domain_t)); |
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if (!domain) { |
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fprintf(stderr, "Failed to allocate memory.\n"); |
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return 0; |
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} |
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|
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index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL); |
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if (index == -1) { |
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fprintf(stderr, "Failed to create domain: %s\n", strerror(errno)); |
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free(domain); |
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return 0; |
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} |
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|
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domain->index = (unsigned int) index; |
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domain->master = master; |
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domain->process_data = NULL; |
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return domain; |
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} |
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|
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/*****************************************************************************/ |
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|
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ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, |
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uint16_t alias, uint16_t position, uint32_t vendor_id, |
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uint32_t product_code) |
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{ |
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ec_ioctl_config_t data; |
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ec_slave_config_t *sc; |
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int index; |
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|
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sc = malloc(sizeof(ec_slave_config_t)); |
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if (!sc) { |
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fprintf(stderr, "Failed to allocate memory.\n"); |
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return 0; |
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} |
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|
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data.alias = alias; |
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data.position = position; |
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data.vendor_id = vendor_id; |
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data.product_code = product_code; |
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|
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if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) { |
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fprintf(stderr, "Failed to create slave config: %s\n", |
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strerror(errno)); |
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free(sc); |
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return 0; |
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} |
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|
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sc->master = master; |
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sc->index = data.config_index; |
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sc->alias = alias; |
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sc->position = position; |
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return sc; |
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102 |
} |
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103 |
|
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104 |
/*****************************************************************************/ |
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105 |
|
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106 |
int ecrt_master_slave(ec_master_t *master, uint16_t position, |
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ec_slave_info_t *slave_info) |
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108 |
{ |
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109 |
ec_ioctl_slave_t data; |
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110 |
int index; |
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111 |
|
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112 |
data.position = position; |
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113 |
|
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114 |
if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) { |
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115 |
fprintf(stderr, "Failed to get slave info: %s\n", |
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116 |
strerror(errno)); |
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117 |
return -1; |
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118 |
} |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
119 |
|
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
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diff
changeset
|
120 |
slave_info->position = data.position; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
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1326
diff
changeset
|
121 |
slave_info->vendor_id = data.vendor_id; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
122 |
slave_info->product_code = data.product_code; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
123 |
slave_info->revision_number = data.revision_number; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
124 |
slave_info->serial_number = data.serial_number; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
125 |
slave_info->alias = data.alias; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
126 |
slave_info->current_on_ebus = data.current_on_ebus; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
127 |
slave_info->al_state = data.al_state; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
128 |
slave_info->error_flag = data.error_flag; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
129 |
slave_info->sync_count = data.sync_count; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
130 |
slave_info->sdo_count = data.sdo_count; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
131 |
strncpy(slave_info->name, data.name, EC_IOCTL_STRING_SIZE); |
32ba7ffb6c7f
Added ecrt_master_slave().
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parents:
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diff
changeset
|
132 |
|
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
133 |
return 0; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
134 |
} |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
135 |
|
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
136 |
/*****************************************************************************/ |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
137 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
int ecrt_master_activate(ec_master_t *master) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
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parents:
diff
changeset
|
139 |
{ |
1258
900f1124e8f8
Memory-mapped process data.
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parents:
1255
diff
changeset
|
140 |
if (ioctl(master->fd, EC_IOCTL_ACTIVATE, |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
141 |
&master->process_data_size) == -1) { |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
142 |
fprintf(stderr, "Failed to activate master: %s\n", |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
143 |
strerror(errno)); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
144 |
return -1; // FIXME |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
145 |
} |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
146 |
|
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
147 |
if (master->process_data_size) { |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
148 |
master->process_data = mmap(0, master->process_data_size, |
1259
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
149 |
PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0); |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
150 |
if (master->process_data == MAP_FAILED) { |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
151 |
fprintf(stderr, "Failed to map process data: %s", strerror(errno)); |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
152 |
master->process_data = NULL; |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
153 |
master->process_data_size = 0; |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
154 |
return -1; // FIXME |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
155 |
} |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
156 |
|
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
157 |
// Access the mapped region to cause the initial page fault |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
158 |
printf("pd: %x\n", master->process_data[0]); |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
159 |
} |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
160 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
return 0; |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
/*****************************************************************************/ |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
void ecrt_master_send(ec_master_t *master) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
{ |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
168 |
if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) { |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
169 |
fprintf(stderr, "Failed to send: %s\n", strerror(errno)); |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
170 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
/*****************************************************************************/ |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
void ecrt_master_receive(ec_master_t *master) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
{ |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
177 |
if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) { |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
178 |
fprintf(stderr, "Failed to receive: %s\n", strerror(errno)); |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
179 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
180 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
182 |
/*****************************************************************************/ |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
{ |
1259
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
186 |
if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) { |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
187 |
fprintf(stderr, "Failed to get master state: %s\n", strerror(errno)); |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
188 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
/*****************************************************************************/ |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
192 |
|
1417
7c2d5d69134c
Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents:
1413
diff
changeset
|
193 |
void ecrt_master_sync_reference_clock(ec_master_t *master, uint64_t app_time) |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
194 |
{ |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
195 |
ec_ioctl_dc_t data; |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
196 |
|
1417
7c2d5d69134c
Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents:
1413
diff
changeset
|
197 |
data.app_time = app_time; |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
198 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
199 |
if (ioctl(master->fd, EC_IOCTL_SYNC_REF, &data) == -1) { |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
200 |
fprintf(stderr, "Failed to sync reference clock: %s\n", |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
201 |
strerror(errno)); |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
202 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
203 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
204 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
205 |
/*****************************************************************************/ |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
206 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
207 |
void ecrt_master_sync_slave_clocks(ec_master_t *master) |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
208 |
{ |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
209 |
if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) { |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
210 |
fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno)); |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
211 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
212 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
213 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
214 |
/*****************************************************************************/ |