lib/master.c
author Florian Pose <fp@igh-essen.com>
Fri, 19 Mar 2010 11:07:49 +0100
changeset 1876 0ebb802ac08d
parent 1804 742607c464c4
child 1911 460baca4df83
child 1978 d9b6e641eaeb
permissions -rw-r--r--
TODO.
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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.
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 *
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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.
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 *
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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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#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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#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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int ecrt_master_reserve(ec_master_t *master)
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{
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    if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
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        fprintf(stderr, "Failed to reserve master: %s\n",
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                strerror(errno));
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        return -1;
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    }
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}
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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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    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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    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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    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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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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    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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    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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    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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    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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}
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/*****************************************************************************/
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int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)
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{
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    ec_ioctl_master_t data;
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    if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
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        fprintf(stderr, "Failed to get master info: %s\n", strerror(errno));
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        return -1;
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    }
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    master_info->slave_count = data.slave_count;
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    master_info->link_up = data.devices[0].link_state;
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    master_info->scan_busy = data.scan_busy;
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    master_info->app_time = data.app_time;
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    return 0;
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}
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/*****************************************************************************/
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int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
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        ec_slave_info_t *slave_info)
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{
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    ec_ioctl_slave_t data;
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    int index;
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    data.position = slave_position;
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    if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
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        fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno));
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        return -1;
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    }
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    slave_info->position = data.position;
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    slave_info->vendor_id = data.vendor_id;
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    slave_info->product_code = data.product_code;
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    slave_info->revision_number = data.revision_number;
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    slave_info->serial_number = data.serial_number;
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    slave_info->alias = data.alias;
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    slave_info->current_on_ebus = data.current_on_ebus;
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    slave_info->al_state = data.al_state;
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    slave_info->error_flag = data.error_flag;
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   157
    slave_info->sync_count = data.sync_count;
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    slave_info->sdo_count = data.sdo_count;
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    strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
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    return 0;
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}
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/*****************************************************************************/
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int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
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        uint8_t sync_index, ec_sync_info_t *sync)
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{
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    ec_ioctl_slave_sync_t data;
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   169
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    if (sync_index >= EC_MAX_SYNC_MANAGERS)
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        return -ENOENT;
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    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
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    data.slave_position = slave_position;
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    data.sync_index = sync_index;
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    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data) == -1) {
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        fprintf(stderr, "Failed to get sync manager information: %s\n",
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                strerror(errno));
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        return -1; // FIXME
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    }
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    sync->index = sync_index;
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    sync->dir = EC_READ_BIT(&data.control_register, 2) ?
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        EC_DIR_OUTPUT : EC_DIR_INPUT;
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    sync->n_pdos = data.pdo_count;
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    sync->pdos = NULL;
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    sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?
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        EC_WD_ENABLE : EC_WD_DISABLE;
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   190
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    return 0;
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}
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/*****************************************************************************/
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int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
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        uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
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{
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    ec_ioctl_slave_sync_pdo_t data;
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    if (sync_index >= EC_MAX_SYNC_MANAGERS)
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        return -ENOENT;
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   203
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    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
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    data.slave_position = slave_position;
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    data.sync_index = sync_index;
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    data.pdo_pos = pos;
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    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data) == -1) {
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        fprintf(stderr, "Failed to get pdo information: %s\n",
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   211
                strerror(errno));
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   212
        return -1; // FIXME
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   213
    }
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    pdo->index = data.index;
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    pdo->n_entries = data.entry_count;
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    pdo->entries = NULL;
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   218
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   219
    return 0;
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}
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/*****************************************************************************/
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   223
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   224
int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
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   225
        uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
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   226
        ec_pdo_entry_info_t *entry)
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   227
{
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   228
    ec_ioctl_slave_sync_pdo_entry_t data;
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   229
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   230
    if (sync_index >= EC_MAX_SYNC_MANAGERS)
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   231
        return -ENOENT;
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   232
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   233
    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
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   234
    data.slave_position = slave_position;
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   235
    data.sync_index = sync_index;
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   236
    data.pdo_pos = pdo_pos;
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   237
    data.entry_pos = entry_pos;
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   238
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   239
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data) == -1) {
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   240
        fprintf(stderr, "Failed to get pdo entry information: %s\n",
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   241
                strerror(errno));
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   242
        return -1; // FIXME
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   243
    }
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   244
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   245
    entry->index = data.index;
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   246
    entry->subindex = data.subindex;
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   247
    entry->bit_length = data.bit_length;
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   248
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   249
    return 0;
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   250
}
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   251
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   252
/*****************************************************************************/
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   253
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   254
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
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   255
        uint16_t index, uint8_t subindex, uint8_t *data,
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   256
        size_t data_size, uint32_t *abort_code)
88b608a1a7f3 Improved bus information API.
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   257
{
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   258
    ec_ioctl_slave_sdo_download_t download;
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   259
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   260
    download.slave_position = slave_position;
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   261
    download.sdo_index = index;
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   262
    download.sdo_entry_subindex = subindex;
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   263
    download.data_size = data_size;
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   264
    download.data = data;
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   265
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   266
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
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   267
        if (errno == -EIO) {
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   268
            if (abort_code) {
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   269
                *abort_code = download.abort_code;
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diff changeset
   270
            }
88b608a1a7f3 Improved bus information API.
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diff changeset
   271
        }
88b608a1a7f3 Improved bus information API.
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   272
        fprintf(stderr, "Failed to execute SDO download: %s\n",
88b608a1a7f3 Improved bus information API.
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diff changeset
   273
            strerror(errno));
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   274
        return -1;
88b608a1a7f3 Improved bus information API.
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diff changeset
   275
    }
88b608a1a7f3 Improved bus information API.
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diff changeset
   276
88b608a1a7f3 Improved bus information API.
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diff changeset
   277
    return 0;
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   278
}
88b608a1a7f3 Improved bus information API.
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diff changeset
   279
88b608a1a7f3 Improved bus information API.
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   280
/*****************************************************************************/
88b608a1a7f3 Improved bus information API.
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diff changeset
   281
88b608a1a7f3 Improved bus information API.
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   282
int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   283
        uint16_t index, uint8_t subindex, uint8_t *target,
88b608a1a7f3 Improved bus information API.
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diff changeset
   284
        size_t target_size, size_t *result_size, uint32_t *abort_code)
88b608a1a7f3 Improved bus information API.
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diff changeset
   285
{
88b608a1a7f3 Improved bus information API.
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diff changeset
   286
    ec_ioctl_slave_sdo_upload_t upload;
88b608a1a7f3 Improved bus information API.
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diff changeset
   287
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   288
    upload.slave_position = slave_position;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   289
    upload.sdo_index = index;
88b608a1a7f3 Improved bus information API.
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diff changeset
   290
    upload.sdo_entry_subindex = subindex;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   291
    upload.target_size = target_size;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   292
    upload.target = target;
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   293
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   294
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   295
        if (errno == -EIO) {
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   296
            if (abort_code) {
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   297
                *abort_code = upload.abort_code;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   298
            }
88b608a1a7f3 Improved bus information API.
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diff changeset
   299
        }
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   300
        fprintf(stderr, "Failed to execute SDO upload: %s\n",
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   301
                strerror(errno));
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   302
        return -1;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   303
    }
88b608a1a7f3 Improved bus information API.
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diff changeset
   304
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   305
    *result_size = upload.data_size;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   306
    return 0;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   307
}
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   308
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   309
/*****************************************************************************/
88b608a1a7f3 Improved bus information API.
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diff changeset
   310
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
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diff changeset
   311
int ecrt_master_activate(ec_master_t *master)
0b70040d3daa No kernel handles in userspace; Domain creation.
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parents:
diff changeset
   312
{
1258
900f1124e8f8 Memory-mapped process data.
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parents: 1255
diff changeset
   313
    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   314
                &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
   315
        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
   316
                strerror(errno));
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   317
        return -1; // FIXME
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   318
    }
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   319
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   320
    if (master->process_data_size) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   321
        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
   322
                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
   323
        if (master->process_data == MAP_FAILED) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   324
            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
   325
            master->process_data = NULL;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   326
            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
   327
            return -1; // FIXME
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   328
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   329
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   330
        // 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
   331
        printf("pd: %x\n", master->process_data[0]);
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   332
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   333
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
    return 0;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   339
void ecrt_master_deactivate(ec_master_t *master)
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   340
{
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   341
    if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) {
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   342
        fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   343
        return;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   344
    }
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   345
}
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   346
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   347
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   348
/*****************************************************************************/
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   349
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   350
int ecrt_master_set_send_interval(ec_master_t *master,size_t send_interval_us)
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   351
{
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   352
    if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   353
                &send_interval_us) == -1) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   354
        fprintf(stderr, "Failed to set send interval: %s\n",
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   355
                strerror(errno));
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   356
        return -1; // FIXME
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   357
    }
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   358
    return 0;
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   359
}
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   360
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   361
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   362
/*****************************************************************************/
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   363
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
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
   365
{
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   366
    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
   367
        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
   368
    }
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
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
   374
{
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   375
    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
   376
        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
   377
    }
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
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
   383
{
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   384
    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
   385
        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
   386
    }
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
/*****************************************************************************/
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   390
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   391
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   392
{
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   393
    ec_ioctl_app_time_t data;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   394
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1413
diff changeset
   395
    data.app_time = app_time;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   396
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   397
    if (ioctl(master->fd, EC_IOCTL_APP_TIME, &data) == -1) {
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   398
        fprintf(stderr, "Failed to set application time: %s\n",
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   399
                strerror(errno));
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   400
    }
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   401
}
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   402
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   403
/*****************************************************************************/
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   404
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   405
void ecrt_master_sync_reference_clock(ec_master_t *master)
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   406
{
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   407
    if (ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL) == -1) {
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   408
        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
   409
                strerror(errno));
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   410
    }
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   411
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   412
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   413
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   414
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   415
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
   416
{
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   417
    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
   418
        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
   419
    }
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   420
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   421
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   422
/*****************************************************************************/
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   423
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   424
void ecrt_master_sync_monitor_queue(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   425
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   426
    if (ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL) == -1) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   427
        fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   428
                strerror(errno));
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   429
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   430
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   431
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   432
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   433
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   434
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   435
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   436
    uint32_t time_diff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   437
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   438
    if (ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff) == -1) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   439
        time_diff = 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   440
        fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   441
                strerror(errno));
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   442
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   443
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   444
    return time_diff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   445
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   446
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   447
/*****************************************************************************/