lib/slave_config.c
author Florian Pose <fp@igh-essen.com>
Wed, 06 Feb 2013 17:48:54 +0100
branchstable-1.5
changeset 2509 232831b6249b
parent 2507 4ccf7634e664
child 2653 291dddb7233e
permissions -rw-r--r--
More detailed output of configure script.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2012  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 <stdio.h>
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#include <string.h>
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#include <errno.h> /* ENOENT */
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#include "ioctl.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 "reg_request.h"
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#include "voe_handler.h"
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#include "master.h"
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/*****************************************************************************/
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void ec_slave_config_clear(ec_slave_config_t *sc)
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{
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    ec_sdo_request_t *r, *next_r;
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    ec_reg_request_t *e, *next_e;
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    ec_voe_handler_t *v, *next_v;
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    r = sc->first_sdo_request;
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    while (r) {
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        next_r = r->next;
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        ec_sdo_request_clear(r);
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        r = next_r;
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    }
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    e = sc->first_reg_request;
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    while (e) {
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        next_e = e->next;
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        ec_reg_request_clear(e);
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        e = next_e;
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    }
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    v = sc->first_voe_handler;
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    while (v) {
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        next_v = v->next;
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        ec_voe_handler_clear(v);
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        v = next_v;
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    }
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}
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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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    int ret;
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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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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data);
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    if (EC_IOCTL_IS_ERROR(ret)) {
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        fprintf(stderr, "Failed to config sync manager: %s\n",
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                strerror(EC_IOCTL_ERRNO(ret)));
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        return -EC_IOCTL_ERRNO(ret);
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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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    int ret;
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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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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data);
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    if (EC_IOCTL_IS_ERROR(ret)) {
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        fprintf(stderr, "Failed to config watchdog: %s\n",
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                strerror(EC_IOCTL_ERRNO(ret)));
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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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    int ret;
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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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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data);
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    if (EC_IOCTL_IS_ERROR(ret)) {
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        fprintf(stderr, "Failed to add PDO: %s\n",
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                strerror(EC_IOCTL_ERRNO(ret)));
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        return -EC_IOCTL_ERRNO(ret);
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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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    int ret;
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    data.config_index = sc->index;
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    data.sync_index = sync_index;
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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data);
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    if (EC_IOCTL_IS_ERROR(ret)) {
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        fprintf(stderr, "Failed to clear PDOs: %s\n",
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                strerror(EC_IOCTL_ERRNO(ret)));
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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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    int ret;
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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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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data);
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    if (EC_IOCTL_IS_ERROR(ret)) {
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        fprintf(stderr, "Failed to add PDO entry: %s\n",
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                strerror(EC_IOCTL_ERRNO(ret)));
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        return -EC_IOCTL_ERRNO(ret);
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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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    int ret;
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    data.config_index = sc->index;
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    data.index = pdo_index;
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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data);
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    if (EC_IOCTL_IS_ERROR(ret)) {
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        fprintf(stderr, "Failed to clear PDO entries: %s\n",
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                strerror(EC_IOCTL_ERRNO(ret)));
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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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   229
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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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   239
                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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   246
                if (pdo_info->n_entries && pdo_info->entries) {
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   247
                    ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
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   248
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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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   261
        }
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    }
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    return 0;
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}
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/*****************************************************************************/
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   268
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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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    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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    data.domain_index = domain->index;
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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
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    if (EC_IOCTL_IS_ERROR(ret)) {
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        fprintf(stderr, "Failed to register PDO entry: %s\n",
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                strerror(EC_IOCTL_ERRNO(ret)));
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        return -EC_IOCTL_ERRNO(ret);
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   290
    }
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    if (bit_position) {
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        *bit_position = data.bit_position;
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   294
    } else {
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   295
        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 -EFAULT;
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        }
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    }
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    return ret;
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}
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/*****************************************************************************/
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2505
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int ecrt_slave_config_reg_pdo_entry_pos(
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        ec_slave_config_t *sc,
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        uint8_t sync_index,
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        unsigned int pdo_pos,
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        unsigned int entry_pos,
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        ec_domain_t *domain,
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        unsigned int *bit_position
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   315
        )
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{
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   317
    ec_ioctl_reg_pdo_pos_t io;
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   318
    int ret;
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   319
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   320
    io.config_index = sc->index;
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   321
    io.sync_index = sync_index;
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   322
    io.pdo_pos = pdo_pos;
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   323
    io.entry_pos = entry_pos;
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   324
    io.domain_index = domain->index;
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   325
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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   326
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_POS, &io);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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   327
    if (EC_IOCTL_IS_ERROR(ret)) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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   328
        fprintf(stderr, "Failed to register PDO entry: %s\n",
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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   329
                strerror(EC_IOCTL_ERRNO(ret)));
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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   330
        return -EC_IOCTL_ERRNO(ret);
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   331
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   332
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   333
    if (bit_position) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   334
        *bit_position = io.bit_position;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   335
    } else {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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parents: 2480
diff changeset
   336
        if (io.bit_position) {
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   337
            fprintf(stderr, "PDO entry %u/%u/%u does not byte-align "
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   338
                    "in config %u:%u.\n", sync_index, pdo_pos, entry_pos,
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diff changeset
   339
                    sc->alias, sc->position);
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   340
            return -EFAULT;
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   341
        }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   342
    }
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   343
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   344
    return ret;
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diff changeset
   345
}
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   346
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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   347
/*****************************************************************************/
5ef3197e5e1f Added ecrt_slave_config_reg_so_entry_pos() to register non-unique entries.
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diff changeset
   348
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
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diff changeset
   349
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
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diff changeset
   350
        uint32_t sync0_cycle_time, int32_t sync0_shift_time,
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
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diff changeset
   351
        uint32_t sync1_cycle_time, int32_t sync1_shift_time)
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
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diff changeset
   352
{
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
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diff changeset
   353
    ec_ioctl_config_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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diff changeset
   354
    int ret;
1455
aa18fcfe0fd1 Output DC config in 'ethercat config'.
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diff changeset
   355
aa18fcfe0fd1 Output DC config in 'ethercat config'.
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diff changeset
   356
    data.config_index = sc->index;
aa18fcfe0fd1 Output DC config in 'ethercat config'.
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diff changeset
   357
    data.dc_assign_activate = assign_activate;
1508
60a116ed3897 Removed more tabulators.
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parents: 1455
diff changeset
   358
    data.dc_sync[0].cycle_time = sync0_cycle_time;
60a116ed3897 Removed more tabulators.
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parents: 1455
diff changeset
   359
    data.dc_sync[0].shift_time = sync0_shift_time;
60a116ed3897 Removed more tabulators.
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parents: 1455
diff changeset
   360
    data.dc_sync[1].cycle_time = sync1_cycle_time;
60a116ed3897 Removed more tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1455
diff changeset
   361
    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().
Florian Pose <fp@igh-essen.com>
parents: 1413
diff changeset
   362
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents: 2428
diff changeset
   363
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   364
    if (EC_IOCTL_IS_ERROR(ret)) {
2449
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc()
Florian Pose <fp@igh-essen.com>
parents: 2443
diff changeset
   365
        fprintf(stderr, "Failed to set DC parameters: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   366
                strerror(EC_IOCTL_ERRNO(ret)));
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
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parents: 1371
diff changeset
   367
    }
44c2b7c0ae1a Userspace library implementation of DC functions.
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parents: 1371
diff changeset
   368
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1371
diff changeset
   369
44c2b7c0ae1a Userspace library implementation of DC functions.
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parents: 1371
diff changeset
   370
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
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parents: 1371
diff changeset
   371
1255
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   372
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   373
        uint8_t subindex, const uint8_t *sdo_data, size_t size)
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   374
{
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   375
    ec_ioctl_sc_sdo_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
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parents: 2428
diff changeset
   376
    int ret;
1255
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   377
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   378
    data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   379
    data.index = index;
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   380
    data.subindex = subindex;
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   381
    data.data = sdo_data;
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   382
    data.size = size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   383
    data.complete_access = 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   384
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   385
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   386
    if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   387
        fprintf(stderr, "Failed to configure SDO: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   388
                strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   389
        return -EC_IOCTL_ERRNO(ret);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   390
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   391
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   392
    return 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   393
}
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   394
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   395
/*****************************************************************************/
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   396
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   397
int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   398
        const uint8_t *sdo_data, size_t size)
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   399
{
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   400
    ec_ioctl_sc_sdo_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   401
    int ret;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   402
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   403
    data.config_index = sc->index;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   404
    data.index = index;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   405
    data.subindex = 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   406
    data.data = sdo_data;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   407
    data.size = size;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1509
diff changeset
   408
    data.complete_access = 1;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   410
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   411
    if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   412
        fprintf(stderr, "Failed to configure SDO: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   413
                strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   414
        return -EC_IOCTL_ERRNO(ret);
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
    }
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
    return 0;
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
        uint8_t subindex, uint8_t value)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
    uint8_t data[1];
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
    EC_WRITE_U8(data, value);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
    return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
        uint8_t subindex, uint16_t value)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
    uint8_t data[2];
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
    EC_WRITE_U16(data, value);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
    return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
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
   445
        uint8_t subindex, uint32_t value)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
    uint8_t data[4];
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
    EC_WRITE_U32(data, value);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
    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
   451
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   455
int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   456
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   457
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   458
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   459
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   460
    io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   461
    io.size = elements;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   462
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   463
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_SIZE, &io);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   464
    if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   465
        fprintf(stderr, "Failed to set emergency ring size: %s\n",
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   466
                strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   467
        return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   468
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   469
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   470
    return 0;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   471
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   472
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   473
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   474
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   475
int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   476
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   477
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   478
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   479
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   480
    io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   481
    io.target = target;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   482
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   483
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_POP, &io);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   484
    if (EC_IOCTL_IS_ERROR(ret)) {
2507
4ccf7634e664 Fixed annoying fprintf in ecrt_slave_config_emerg_pop().
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   485
        if (EC_IOCTL_ERRNO(ret) != ENOENT) {
4ccf7634e664 Fixed annoying fprintf in ecrt_slave_config_emerg_pop().
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   486
            fprintf(stderr, "Failed to get emergency message: %s\n",
4ccf7634e664 Fixed annoying fprintf in ecrt_slave_config_emerg_pop().
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   487
                    strerror(EC_IOCTL_ERRNO(ret)));
4ccf7634e664 Fixed annoying fprintf in ecrt_slave_config_emerg_pop().
Florian Pose <fp@igh-essen.com>
parents: 2505
diff changeset
   488
        }
2438
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   489
        return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   490
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   491
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   492
    return 0;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   493
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   494
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   495
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   496
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   497
int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   498
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   499
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   500
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   501
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   502
    io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   503
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   504
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_CLEAR, &io);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   505
    if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   506
        fprintf(stderr, "Failed to clear emergency ring: %s\n",
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   507
                strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   508
        return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   509
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   510
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   511
    return 0;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   512
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   513
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   514
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   515
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   516
int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   517
{
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   518
    ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   519
    int ret;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   520
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   521
    io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   522
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   523
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_OVERRUNS, &io);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   524
    if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   525
        fprintf(stderr, "Failed to get emergency overruns: %s\n",
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   526
                strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   527
        return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   528
    }
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   529
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   530
    return io.overruns;
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   531
}
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   532
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   533
/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   534
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   535
void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   536
        ec_sdo_request_t *req)
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   537
{
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   538
    if (sc->first_sdo_request) {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   539
        ec_sdo_request_t *r = sc->first_sdo_request;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   540
        while (r->next) {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   541
            r = r->next;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   542
        }
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   543
        r->next = req;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   544
    } else {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   545
        sc->first_sdo_request = req;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   546
    }
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   547
}
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   548
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   549
/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   550
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
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
   552
        uint16_t index, uint8_t subindex, size_t size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
{
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   554
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   555
    ec_sdo_request_t *req;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   556
    int ret;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   557
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   558
    req = malloc(sizeof(ec_sdo_request_t));
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   559
    if (!req) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   560
        fprintf(stderr, "Failed to allocate memory.\n");
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   561
        return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   562
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   563
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   564
    if (size) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   565
        req->data = malloc(size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   566
        if (!req->data) {
2480
8b1e26cc88ac Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   567
            fprintf(stderr, "Failed to allocate %zu bytes of SDO data"
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   568
                    " memory.\n", size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   569
            free(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   570
            return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   571
        }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   572
    } else {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   573
        req->data = NULL;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   574
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   575
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   576
    data.config_index = sc->index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   577
    data.sdo_index = index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   578
    data.sdo_subindex = subindex;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   579
    data.size = size;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   580
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   581
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   582
    if (EC_IOCTL_IS_ERROR(ret)) {
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   583
        fprintf(stderr, "Failed to create SDO request: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   584
                strerror(EC_IOCTL_ERRNO(ret)));
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   585
        ec_sdo_request_clear(req);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   586
        free(req);
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   587
        return NULL;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   588
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   589
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   590
    req->next = NULL;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   591
    req->config = sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   592
    req->index = data.request_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   593
    req->sdo_index = data.sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   594
    req->sdo_subindex = data.sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   595
    req->data_size = size;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   596
    req->mem_size = size;
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   597
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   598
    ec_slave_config_add_sdo_request(sc, req);
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   599
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   600
    return req;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   601
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   602
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   603
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   604
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   605
void ec_slave_config_add_reg_request(ec_slave_config_t *sc,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   606
        ec_reg_request_t *reg)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   607
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   608
    if (sc->first_reg_request) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   609
        ec_reg_request_t *r = sc->first_reg_request;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   610
        while (r->next) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   611
            r = r->next;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   612
        }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   613
        r->next = reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   614
    } else {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   615
        sc->first_reg_request = reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   616
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   617
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   618
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   619
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   620
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   621
ec_reg_request_t *ecrt_slave_config_create_reg_request(ec_slave_config_t *sc,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   622
        size_t size)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   623
{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   624
    ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   625
    ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   626
    int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   627
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   628
    reg = malloc(sizeof(ec_reg_request_t));
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   629
    if (!reg) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   630
        fprintf(stderr, "Failed to allocate memory.\n");
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   631
        return NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   632
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   633
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   634
    if (size) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   635
        reg->data = malloc(size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   636
        if (!reg->data) {
2480
8b1e26cc88ac Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   637
            fprintf(stderr, "Failed to allocate %zu bytes of register data"
2443
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   638
                    " memory.\n", size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   639
            free(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   640
            return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   641
        }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   642
    } else {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   643
        reg->data = NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   644
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   645
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   646
    io.config_index = sc->index;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   647
    io.mem_size = size;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   648
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   649
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_REQUEST, &io);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   650
    if (EC_IOCTL_IS_ERROR(ret)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   651
        fprintf(stderr, "Failed to create register request: %s\n",
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   652
                strerror(EC_IOCTL_ERRNO(ret)));
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   653
        ec_reg_request_clear(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   654
        free(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   655
        return NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   656
    }
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   657
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   658
    reg->next = NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   659
    reg->config = sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   660
    reg->index = io.request_index;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   661
    reg->mem_size = size;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   662
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   663
    ec_slave_config_add_reg_request(sc, reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   664
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   665
    return reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   666
}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   667
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   668
/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents: 2438
diff changeset
   669
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   670
void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   671
        ec_voe_handler_t *voe)
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   672
{
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   673
    if (sc->first_voe_handler) {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   674
        ec_voe_handler_t *v = sc->first_voe_handler;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   675
        while (v->next) {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   676
            v = v->next;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   677
        }
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   678
        v->next = voe;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   679
    } else {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   680
        sc->first_voe_handler = voe;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   681
    }
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   682
}
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   683
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   684
/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   685
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
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
   687
        size_t size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
{
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   689
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   690
    ec_voe_handler_t *voe;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   691
    int ret;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   692
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   693
    voe = malloc(sizeof(ec_voe_handler_t));
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   694
    if (!voe) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   695
        fprintf(stderr, "Failed to allocate memory.\n");
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   696
        return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   697
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   698
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   699
    if (size) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   700
        voe->data = malloc(size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   701
        if (!voe->data) {
2480
8b1e26cc88ac Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 2449
diff changeset
   702
            fprintf(stderr, "Failed to allocate %zu bytes of VoE data"
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   703
                    " memory.\n", size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   704
            free(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   705
            return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   706
        }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   707
    } else {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   708
        voe->data = NULL;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   709
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   710
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   711
    data.config_index = sc->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   712
    data.size = size;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   713
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   714
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   715
    if (EC_IOCTL_IS_ERROR(ret)) {
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   716
        fprintf(stderr, "Failed to create VoE handler: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   717
                strerror(EC_IOCTL_ERRNO(ret)));
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   718
        ec_voe_handler_clear(voe);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   719
        free(voe);
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   720
        return NULL;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   721
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   722
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   723
    voe->next = NULL;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   724
    voe->config = sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   725
    voe->index = data.voe_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   726
    voe->data_size = size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   727
    voe->mem_size = size;
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   728
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   729
    ec_slave_config_add_voe_handler(sc, voe);
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   730
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   731
    return voe;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
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
   737
        ec_slave_config_state_t *state)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
{
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   739
    ec_ioctl_sc_state_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   740
    int ret;
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   741
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   742
    data.config_index = sc->index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   743
    data.state = state;
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1963
diff changeset
   744
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   745
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   746
    if (EC_IOCTL_IS_ERROR(ret)) {
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   747
        fprintf(stderr, "Failed to get slave configuration state: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   748
                strerror(EC_IOCTL_ERRNO(ret)));
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   749
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   750
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   751
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   752
/*****************************************************************************/
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   753
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   754
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   755
        uint16_t idn, ec_al_state_t al_state, const uint8_t *data, size_t size)
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   756
{
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   757
    ec_ioctl_sc_idn_t io;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   758
    int ret;
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   759
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   760
    io.config_index = sc->index;
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   761
    io.drive_no = drive_no;
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   762
    io.idn = idn;
1945
f9204699e799 Incremented ioctl interface version; Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   763
    io.al_state = al_state;
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   764
    io.data = data;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   765
    io.size = size;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   766
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   767
    ret = ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   768
    if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   769
        fprintf(stderr, "Failed to configure IDN: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   770
                strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   771
        return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   772
    }
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   773
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   774
    return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   775
}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   776
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2428
diff changeset
   777
/*****************************************************************************/