lib/slave_config.c
author Florian Pose <fp@igh-essen.com>
Fri, 19 Mar 2010 11:07:49 +0100
changeset 1876 0ebb802ac08d
parent 1862 05d224a66270
child 1944 73896ef6d077
child 1981 c14b6bb14fdf
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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 *****************************************************************************/
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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 "slave_config.h"
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#include "domain.h"
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#include "sdo_request.h"
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#include "voe_handler.h"
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#include "master.h"
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#include "master/ioctl.h"
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/*****************************************************************************/
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int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
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        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
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{
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    ec_ioctl_config_t data;
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    unsigned int i;
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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_config_t));
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    data.config_index = sc->index;
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    data.syncs[sync_index].dir = dir;
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    data.syncs[sync_index].watchdog_mode = watchdog_mode;
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    data.syncs[sync_index].config_this = 1;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
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        fprintf(stderr, "Failed to config sync manager: %s\n",
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                strerror(errno));
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        return -1; // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
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        uint16_t divider, uint16_t intervals)
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{
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    ec_ioctl_config_t data;
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    memset(&data, 0x00, sizeof(ec_ioctl_config_t));
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    data.config_index = sc->index;
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    data.watchdog_divider = divider;
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    data.watchdog_intervals = intervals;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data) == -1) {
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        fprintf(stderr, "Failed to config watchdog: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
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        uint8_t sync_index, uint16_t pdo_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.sync_index = sync_index;
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    data.index = pdo_index;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
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        fprintf(stderr, "Failed to add PDO: %s\n",
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                strerror(errno));
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        return -1;  // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
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        uint8_t sync_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.sync_index = sync_index;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
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        fprintf(stderr, "Failed to clear PDOs: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
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        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
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        uint8_t entry_bit_length)
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{
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    ec_ioctl_add_pdo_entry_t data;
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    data.config_index = sc->index;
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    data.pdo_index = pdo_index;
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    data.entry_index = entry_index;
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    data.entry_subindex = entry_subindex;
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    data.entry_bit_length = entry_bit_length;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
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        fprintf(stderr, "Failed to add PDO entry: %s\n",
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                strerror(errno));
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        return -1;  // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
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        uint16_t pdo_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.index = pdo_index;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
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        fprintf(stderr, "Failed to clear PDO entries: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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int ecrt_slave_config_pdos(ec_slave_config_t *sc,
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        unsigned int n_syncs, const ec_sync_info_t syncs[])
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{
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    int ret;
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    unsigned int i, j, k;
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    const ec_sync_info_t *sync_info;
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    const ec_pdo_info_t *pdo_info;
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    const ec_pdo_entry_info_t *entry_info;
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    if (!syncs)
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        return 0;
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    for (i = 0; i < n_syncs; i++) {
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        sync_info = &syncs[i];
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        if (sync_info->index == (uint8_t) EC_END)
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            break;
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        if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
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            fprintf(stderr, "Invalid sync manager index %u!\n",
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                    sync_info->index);
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            return -ENOENT;
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        }
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        ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
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                sync_info->dir, sync_info->watchdog_mode);
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        if (ret)
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            return ret;
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        if (sync_info->n_pdos && sync_info->pdos) {
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            ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
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            for (j = 0; j < sync_info->n_pdos; j++) {
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                pdo_info = &sync_info->pdos[j];
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                ret = ecrt_slave_config_pdo_assign_add(
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                        sc, sync_info->index, pdo_info->index);
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                if (ret)
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                    return ret;
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                if (pdo_info->n_entries && pdo_info->entries) {
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                    ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
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                    for (k = 0; k < pdo_info->n_entries; k++) {
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                        entry_info = &pdo_info->entries[k];
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                        ret = ecrt_slave_config_pdo_mapping_add(sc,
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                                pdo_info->index, entry_info->index,
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                                entry_info->subindex,
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                                entry_info->bit_length);
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                        if (ret)
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                            return ret;
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                    }
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                }
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            }
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        }
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    }
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    return 0;
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}
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/*****************************************************************************/
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int ecrt_slave_config_reg_pdo_entry(
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        ec_slave_config_t *sc,
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        uint16_t index,
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        uint8_t subindex,
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        ec_domain_t *domain,
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        unsigned int *bit_position
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        )
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{
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    ec_ioctl_reg_pdo_entry_t data;
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    int ret;
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   238
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    data.config_index = sc->index;
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    data.entry_index = index;
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    data.entry_subindex = subindex;
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   242
    data.domain_index = domain->index;
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   243
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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
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    if (ret == -1) {
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        fprintf(stderr, "Failed to register PDO entry: %s\n",
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                strerror(errno));
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        return -2; // FIXME
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   249
    }
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   251
    if (bit_position) {
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        *bit_position = data.bit_position;
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   253
    } else {
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        if (data.bit_position) {
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            fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
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                    "in config %u:%u.\n", index, subindex,
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                    sc->alias, sc->position);
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            return -3; // FIXME
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   259
        }
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    }
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    return ret;
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   263
}
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/*****************************************************************************/
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   266
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   267
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
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1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
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        uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
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        uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
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{
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   271
    ec_ioctl_config_t data;
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   272
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    data.config_index = sc->index;
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   274
    data.dc_assign_activate = assign_activate;
1508
60a116ed3897 Removed more tabulators.
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diff changeset
   275
    data.dc_sync[0].cycle_time = sync0_cycle_time;
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diff changeset
   276
    data.dc_sync[0].shift_time = sync0_shift_time;
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   277
    data.dc_sync[1].cycle_time = sync1_cycle_time;
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diff changeset
   278
    data.dc_sync[1].shift_time = sync1_shift_time;
1438
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
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diff changeset
   279
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
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   280
    if (ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data) == -1) {
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
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   281
        fprintf(stderr, "Failed to set assign_activate word.\n");
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   282
    }
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   283
}
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   284
44c2b7c0ae1a Userspace library implementation of DC functions.
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   285
/*****************************************************************************/
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   286
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38b7e05b20c1 Added some slave configuration methods.
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   287
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
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   288
        uint8_t subindex, const uint8_t *sdo_data, size_t size)
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   289
{
38b7e05b20c1 Added some slave configuration methods.
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   290
    ec_ioctl_sc_sdo_t data;
38b7e05b20c1 Added some slave configuration methods.
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   291
38b7e05b20c1 Added some slave configuration methods.
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   292
    data.config_index = sc->index;
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   293
    data.index = index;
38b7e05b20c1 Added some slave configuration methods.
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   294
    data.subindex = subindex;
38b7e05b20c1 Added some slave configuration methods.
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   295
    data.data = sdo_data;
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   296
    data.size = size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   297
    data.complete_access = 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   298
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   299
    if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   300
        fprintf(stderr, "Failed to configure SDO.\n");
66edd310830c Implemented CompleteAccess for SDO downloads.
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   301
        return -1; // FIXME
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   302
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   303
66edd310830c Implemented CompleteAccess for SDO downloads.
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   304
    return 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   305
}
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   306
66edd310830c Implemented CompleteAccess for SDO downloads.
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   307
/*****************************************************************************/
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   308
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   309
int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   310
        const uint8_t *sdo_data, size_t size)
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   311
{
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   312
    ec_ioctl_sc_sdo_t data;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   313
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   314
    data.config_index = sc->index;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   315
    data.index = index;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   316
    data.subindex = 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   317
    data.data = sdo_data;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   318
    data.size = size;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   319
    data.complete_access = 1;
1255
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   320
1371
00e2975dc17b Fixed SDO configuration via library.
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parents: 1363
diff changeset
   321
    if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   322
        fprintf(stderr, "Failed to configure SDO.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
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parents: 1287
diff changeset
   323
        return -1; // FIXME
1255
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   324
    }
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   325
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   326
    return 0;
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   327
}
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   328
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   329
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   330
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   331
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   332
        uint8_t subindex, uint8_t value)
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   333
{
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   334
    uint8_t data[1];
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   335
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   336
    EC_WRITE_U8(data, value);
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   337
    return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   338
}
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   339
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   340
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   341
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   342
int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   343
        uint8_t subindex, uint16_t value)
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   344
{
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   345
    uint8_t data[2];
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   346
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   347
    EC_WRITE_U16(data, value);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
    return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   349
}
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   350
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   351
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   352
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
        uint8_t subindex, uint32_t value)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    uint8_t data[4];
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    EC_WRITE_U32(data, value);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
}
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   361
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   363
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
        uint16_t index, uint8_t subindex, size_t size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
{
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   367
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   368
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   369
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   370
    req = malloc(sizeof(ec_sdo_request_t));
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   371
    if (!req) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   372
        fprintf(stderr, "Failed to allocate memory.\n");
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   373
        return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   374
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   375
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   376
    if (size) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   377
        req->data = malloc(size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   378
        if (!req->data) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   379
            fprintf(stderr, "Failed to allocate %u bytes of SDO data"
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   380
                    " memory.\n", size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   381
            free(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   382
            return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   383
        }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   384
    } else {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   385
        req->data = NULL;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   386
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   387
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   388
    data.config_index = sc->index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   389
    data.sdo_index = index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   390
    data.sdo_subindex = subindex;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   391
    data.size = size;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   392
    
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   393
    if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   394
        fprintf(stderr, "Failed to create SDO request: %s\n",
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   395
                strerror(errno));
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   396
        if (req->data)
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   397
            free(req->data);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   398
        free(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   399
        return NULL; 
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   400
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   401
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   402
    req->config = sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   403
    req->index = data.request_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   404
    req->sdo_index = data.sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   405
    req->sdo_subindex = data.sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   406
    req->data_size = size;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   407
    req->mem_size = size;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   408
    return req;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
        size_t size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
{
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   416
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   417
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   418
    unsigned int index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   419
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   420
    voe = malloc(sizeof(ec_voe_handler_t));
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   421
    if (!voe) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   422
        fprintf(stderr, "Failed to allocate memory.\n");
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   423
        return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   424
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   425
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   426
    if (size) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   427
        voe->data = malloc(size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   428
        if (!voe->data) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   429
            fprintf(stderr, "Failed to allocate %u bytes of VoE data"
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   430
                    " memory.\n", size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   431
            free(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   432
            return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   433
        }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   434
    } else {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   435
        voe->data = NULL;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   436
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   437
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   438
    data.config_index = sc->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   439
    data.size = size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   440
    
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   441
    if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   442
        fprintf(stderr, "Failed to create VoE handler: %s\n",
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   443
                strerror(errno));
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   444
        if (voe->data)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   445
            free(voe->data);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   446
        free(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   447
        return NULL; 
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   448
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   449
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   450
    voe->config = sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   451
    voe->index = data.voe_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   452
    voe->data_size = size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   453
    voe->mem_size = size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   454
    return voe;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
void ecrt_slave_config_state(const ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
        ec_slave_config_state_t *state)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
{
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   462
    ec_ioctl_sc_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   463
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   464
    data.config_index = sc->index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   465
    data.state = state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   466
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   467
    if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   468
        fprintf(stderr, "Failed to get slave configuration state: %s\n",
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   469
                strerror(errno));
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   470
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   471
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   472
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   473
/*****************************************************************************/
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   474
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   475
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   476
        const uint8_t *data, size_t size)
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   477
{
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   478
    ec_ioctl_sc_idn_t io;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   479
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   480
    io.config_index = sc->index;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   481
    io.idn = idn;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   482
    io.data = data;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   483
    io.size = size;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   484
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   485
    if (ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io) == -1) {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   486
        fprintf(stderr, "Failed to configure IDN.\n");
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   487
        return -1; // FIXME
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   488
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   489
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   490
    return 0;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   491
}
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   492
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   493
/*****************************************************************************/