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/*****************************************************************************

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 *

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 *  $Id$

     4

 *

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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.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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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 <sys/stat.h>

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#include <fcntl.h>

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#include <errno.h>

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#include <sys/ioctl.h>

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#include <string.h>

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#include <unistd.h>

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#include <sstream>

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#include <iomanip>

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using namespace std;

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#include "MasterDevice.h"

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/****************************************************************************/

    44

    45

MasterDevice::MasterDevice(unsigned int index):

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    index(index),

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    masterCount(0U),

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    fd(-1)

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{

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}

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/****************************************************************************/

    53

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MasterDevice::~MasterDevice()

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{

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    close();

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}

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/****************************************************************************/

    60

    61

void MasterDevice::setIndex(unsigned int i)

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{

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    index = i;

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}

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/****************************************************************************/

    67

    68

void MasterDevice::open(Permissions perm)

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{

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    stringstream deviceName;

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    if (fd == -1) { // not already open

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        ec_ioctl_module_t module_data;

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        deviceName << "/dev/EtherCAT" << index;

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        if ((fd = ::open(deviceName.str().c_str(),

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                        perm == ReadWrite ? O_RDWR : O_RDONLY)) == -1) {

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            stringstream err;

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            err << "Failed to open master device " << deviceName.str() << ": "

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                << strerror(errno);

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            throw MasterDeviceException(err);

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        }

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        getModule(&module_data);

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        if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {

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            stringstream err;

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            err << "ioctl() version magic is differing: "

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                << deviceName << ": " << module_data.ioctl_version_magic

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                << ", ethercat tool: " << EC_IOCTL_VERSION_MAGIC;

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            throw MasterDeviceException(err);

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        }

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        masterCount = module_data.master_count;

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    }

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}

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/****************************************************************************/

    97

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void MasterDevice::close()

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{

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    if (fd != -1) {

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        ::close(fd);

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        fd = -1;

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    }

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}

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/****************************************************************************/

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   108

void MasterDevice::getModule(ec_ioctl_module_t *data)

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{

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    if (ioctl(fd, EC_IOCTL_MODULE, data) < 0) {

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        stringstream err;

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        err << "Failed to get module information: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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   117

/****************************************************************************/

   118

   119

void MasterDevice::getMaster(ec_ioctl_master_t *data)

   120

{

   121

    if (ioctl(fd, EC_IOCTL_MASTER, data) < 0) {

   122

        stringstream err;

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        err << "Failed to get master information: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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   128

/****************************************************************************/

   129

   130

void MasterDevice::getConfig(ec_ioctl_config_t *data, unsigned int index)

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{

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    data->config_index = index;

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   134

    if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {

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        stringstream err;

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        err << "Failed to get slave configuration: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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/****************************************************************************/

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void MasterDevice::getConfigPdo(

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        ec_ioctl_config_pdo_t *data,

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        unsigned int index,

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        uint8_t sync_index,

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        uint16_t pdo_pos

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        )

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{

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    data->config_index = index;

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    data->sync_index = sync_index;

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    data->pdo_pos = pdo_pos;

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    if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {

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        stringstream err;

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        err << "Failed to get slave config PDO: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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/****************************************************************************/

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   163

void MasterDevice::getConfigPdoEntry(

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        ec_ioctl_config_pdo_entry_t *data,

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        unsigned int index,

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        uint8_t sync_index,

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        uint16_t pdo_pos,

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        uint8_t entry_pos

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        )

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{

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    data->config_index = index;

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    data->sync_index = sync_index;

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    data->pdo_pos = pdo_pos;

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    data->entry_pos = entry_pos;

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   176

    if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {

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        stringstream err;

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        err << "Failed to get slave config PDO entry: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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/****************************************************************************/

   184

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void MasterDevice::getConfigSdo(

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        ec_ioctl_config_sdo_t *data,

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        unsigned int index,

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        unsigned int sdo_pos

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        )

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{

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    data->config_index = index;

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    data->sdo_pos = sdo_pos;

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   194

    if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {

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        stringstream err;

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        err << "Failed to get slave config SDO: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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/****************************************************************************/

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   203

void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)

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{

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    data->index = index;

   206

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    if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {

   208

        stringstream err;

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        err << "Failed to get domain: ";

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        if (errno == EINVAL)

   211

            err << "Domain " << index << " does not exist!";

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        else

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            err << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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/****************************************************************************/

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void MasterDevice::getData(ec_ioctl_domain_data_t *data,

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        unsigned int domainIndex, unsigned int dataSize, unsigned char *mem)

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{

   223

    data->domain_index = domainIndex;

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    data->data_size = dataSize;

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    data->target = mem;

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    if (ioctl(fd, EC_IOCTL_DOMAIN_DATA, data) < 0) {

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        stringstream err;

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        err << "Failed to get domain data: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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/****************************************************************************/

   235

   236

void MasterDevice::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)

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{

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    slave->position = slaveIndex;

   239

   240

    if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {

   241

        stringstream err;

   242

        err << "Failed to get slave: ";

   243

        if (errno == EINVAL)

   244

            err << "Slave " << slaveIndex << " does not exist!";

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        else

   246

            err << strerror(errno);

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        throw MasterDeviceException(err);

   248

    }

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}

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   251

/****************************************************************************/

   252

   253

void MasterDevice::getFmmu(

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        ec_ioctl_domain_fmmu_t *fmmu,

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        unsigned int domainIndex,

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        unsigned int fmmuIndex

   257

        )

   258

{

   259

    fmmu->domain_index = domainIndex;

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    fmmu->fmmu_index = fmmuIndex;

   261

   262

    if (ioctl(fd, EC_IOCTL_DOMAIN_FMMU, fmmu)) {

   263

        stringstream err;

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        err << "Failed to get domain FMMU: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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/****************************************************************************/

   270

   271

void MasterDevice::getSync(

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        ec_ioctl_slave_sync_t *sync,

   273

        uint16_t slaveIndex,

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        uint8_t syncIndex

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        )

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{

   277

    sync->slave_position = slaveIndex;

   278

    sync->sync_index = syncIndex;

   279

   280

    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC, sync)) {

   281

        stringstream err;

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        err << "Failed to get sync manager: " << strerror(errno);

   283

        throw MasterDeviceException(err);

   284

    }

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}

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/****************************************************************************/

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void MasterDevice::getPdo(

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        ec_ioctl_slave_sync_pdo_t *pdo,

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        uint16_t slaveIndex,

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        uint8_t syncIndex,

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        uint8_t pdoPos

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        )

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{

   296

    pdo->slave_position = slaveIndex;

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    pdo->sync_index = syncIndex;

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    pdo->pdo_pos = pdoPos;

   299

   300

    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {

   301

        stringstream err;

   302

        err << "Failed to get PDO: " << strerror(errno);

   303

        throw MasterDeviceException(err);

   304

    }

   305

}

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/****************************************************************************/

   308

   309

void MasterDevice::getPdoEntry(

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        ec_ioctl_slave_sync_pdo_entry_t *entry,

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        uint16_t slaveIndex,

   312

        uint8_t syncIndex,

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        uint8_t pdoPos,

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        uint8_t entryPos

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        )

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{

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    entry->slave_position = slaveIndex;

   318

    entry->sync_index = syncIndex;

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    entry->pdo_pos = pdoPos;

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    entry->entry_pos = entryPos;

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   322

    if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {

   323

        stringstream err;

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        err << "Failed to get PDO entry: " << strerror(errno);

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        throw MasterDeviceException(err);

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    }

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}

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   329

/****************************************************************************/

   330

   331

void MasterDevice::getSdo(

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        ec_ioctl_slave_sdo_t *sdo,

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        uint16_t slaveIndex,

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        uint16_t sdoPosition

   335

        )

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{

   337

    sdo->slave_position = slaveIndex;

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    sdo->sdo_position = sdoPosition;

   339

   340

    if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {

   341

        stringstream err;

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        err << "Failed to get SDO: " << strerror(errno);

   343

        throw MasterDeviceException(err);

   344

    }

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}

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/****************************************************************************/

   348

   349

void MasterDevice::getSdoEntry(

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        ec_ioctl_slave_sdo_entry_t *entry,

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        uint16_t slaveIndex,

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        int sdoSpec,

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        uint8_t entrySubindex

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        )

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{

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    entry->slave_position = slaveIndex;

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    entry->sdo_spec = sdoSpec;

   358

    entry->sdo_entry_subindex = entrySubindex;

   359

   360

    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {

   361

        stringstream err;

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        err << "Failed to get SDO entry: " << strerror(errno);

   363

        throw MasterDeviceException(err);

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    }

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}

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/****************************************************************************/

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void MasterDevice::readSii(

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        ec_ioctl_slave_sii_t *data

   371

        )

   372

{

   373

    if (ioctl(fd, EC_IOCTL_SLAVE_SII_READ, data) < 0) {

   374

        stringstream err;

   375

        err << "Failed to read SII: " << strerror(errno);

   376

        throw MasterDeviceException(err);

   377

    }

   378

}

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   380

/****************************************************************************/

   381

   382

void MasterDevice::writeSii(

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        ec_ioctl_slave_sii_t *data

   384

        )

   385

{

   386

    if (ioctl(fd, EC_IOCTL_SLAVE_SII_WRITE, data) < 0) {

   387

        stringstream err;

   388

        err << "Failed to write SII: " << strerror(errno);

   389

        throw MasterDeviceException(err);

   390

    }

   391

}

   392

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/****************************************************************************/

   394

   395

void MasterDevice::readReg(

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        ec_ioctl_slave_reg_t *data

   397

        )

   398

{

   399

    if (ioctl(fd, EC_IOCTL_SLAVE_REG_READ, data) < 0) {

   400

        stringstream err;

   401

        err << "Failed to read register: " << strerror(errno);

   402

        throw MasterDeviceException(err);

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    }

   404

}

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/****************************************************************************/

   407

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void MasterDevice::writeReg(

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        ec_ioctl_slave_reg_t *data

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        )

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{

   412

    if (ioctl(fd, EC_IOCTL_SLAVE_REG_WRITE, data) < 0) {

   413

        stringstream err;

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        err << "Failed to write register: " << strerror(errno);

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        throw MasterDeviceException(err);

   416

    }

   417

}

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   419

/****************************************************************************/

   420

   421

void MasterDevice::readFoe(

   422

        ec_ioctl_slave_foe_t *data

   423

        )

   424

{

   425

    if (ioctl(fd, EC_IOCTL_SLAVE_FOE_READ, data) < 0) {

   426

        stringstream err;

   427

        err << "Failed to read via FoE: " << strerror(errno);

   428

        throw MasterDeviceException(err);

   429

    }

   430

}

   431

   432

/****************************************************************************/

   433

   434

void MasterDevice::writeFoe(

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        ec_ioctl_slave_foe_t *data

   436

        )

   437

{

   438

    if (ioctl(fd, EC_IOCTL_SLAVE_FOE_WRITE, data) < 0) {

   439

        stringstream err;

   440

        err << "Failed to write via FoE: " << strerror(errno);

   441

        throw MasterDeviceException(err);

   442

    }

   443

}

   444

   445

/****************************************************************************/

   446

   447

void MasterDevice::setDebug(unsigned int debugLevel)

   448

{

   449

    if (ioctl(fd, EC_IOCTL_MASTER_DEBUG, debugLevel) < 0) {

   450

        stringstream err;

   451

        err << "Failed to set debug level: " << strerror(errno);

   452

        throw MasterDeviceException(err);

   453

    }

   454

}

   455

   456

/****************************************************************************/

   457

   458

void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)

   459

{

   460

    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, data) < 0) {

   461

        stringstream err;

   462

        if (errno == EIO && data->abort_code) {

   463

            throw MasterDeviceSdoAbortException(data->abort_code);

   464

        } else {

   465

            err << "Failed to download SDO: " << strerror(errno);

   466

            throw MasterDeviceException(err);

   467

        }

   468

    }

   469

}

   470

   471

/****************************************************************************/

   472

   473

void MasterDevice::sdoUpload(ec_ioctl_slave_sdo_upload_t *data)

   474

{

   475

    if (ioctl(fd, EC_IOCTL_SLAVE_SDO_UPLOAD, data) < 0) {

   476

        stringstream err;

   477

        if (errno == EIO && data->abort_code) {

   478

            throw MasterDeviceSdoAbortException(data->abort_code);

   479

        } else {

   480

            err << "Failed to upload SDO: " << strerror(errno);

   481

            throw MasterDeviceException(err);

   482

        }

   483

    }

   484

}

   485

   486

/****************************************************************************/

   487

   488

void MasterDevice::requestState(

   489

        uint16_t slavePosition,

   490

        uint8_t state

   491

        )

   492

{

   493

    ec_ioctl_slave_state_t data;

   494

   495

    data.slave_position = slavePosition;

   496

    data.al_state = state;

   497

   498

    if (ioctl(fd, EC_IOCTL_SLAVE_STATE, &data)) {

   499

        stringstream err;

   500

        err << "Failed to request slave state: ";

   501

        if (errno == EINVAL)

   502

            err << "Slave " << slavePosition << " does not exist!";

   503

        else

   504

            err << strerror(errno);

   505

        throw MasterDeviceException(err);

   506

    }

   507

}

   508

   509

/****************************************************************************/

   510