author | Dominik Staubli <ch1010252@ch10pc423> |
Tue, 26 Jan 2010 09:30:35 +0100 | |
changeset 1801 | 31af610f1639 |
parent 1526 | 66edd310830c |
child 1862 | 05d224a66270 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT master userspace library. |
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* |
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* The IgH EtherCAT master userspace library is free software; you can |
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* redistribute it and/or modify it under the terms of the GNU Lesser General |
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* Public License as published by the Free Software Foundation; version 2.1 |
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* of the License. |
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* |
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* The IgH EtherCAT master userspace library is distributed in the hope that |
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with the IgH EtherCAT master userspace library. If not, see |
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* <http://www.gnu.org/licenses/>. |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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#include <stdlib.h> |
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#include <sys/ioctl.h> |
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#include <stdio.h> |
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#include <errno.h> |
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#include <string.h> |
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#include "slave_config.h" |
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#include "domain.h" |
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#include "sdo_request.h" |
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#include "voe_handler.h" |
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#include "master.h" |
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#include "master/ioctl.h" |
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/*****************************************************************************/ |
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int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index, |
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ec_direction_t dir, ec_watchdog_mode_t watchdog_mode) |
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{ |
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ec_ioctl_config_t data; |
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unsigned int i; |
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if (sync_index >= EC_MAX_SYNC_MANAGERS) |
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return -ENOENT; |
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memset(&data, 0x00, sizeof(ec_ioctl_config_t)); |
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data.config_index = sc->index; |
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data.syncs[sync_index].dir = dir; |
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data.syncs[sync_index].watchdog_mode = watchdog_mode; |
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data.syncs[sync_index].config_this = 1; |
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if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) { |
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fprintf(stderr, "Failed to config sync manager: %s\n", |
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strerror(errno)); |
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return -1; // FIXME |
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} |
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return 0; |
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} |
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/*****************************************************************************/ |
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void ecrt_slave_config_watchdog(ec_slave_config_t *sc, |
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uint16_t divider, uint16_t intervals) |
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{ |
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ec_ioctl_config_t data; |
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memset(&data, 0x00, sizeof(ec_ioctl_config_t)); |
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data.config_index = sc->index; |
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data.watchdog_divider = divider; |
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data.watchdog_intervals = intervals; |
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if (ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data) == -1) { |
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fprintf(stderr, "Failed to config watchdog: %s\n", |
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strerror(errno)); |
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} |
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} |
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/*****************************************************************************/ |
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int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc, |
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uint8_t sync_index, uint16_t pdo_index) |
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{ |
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ec_ioctl_config_pdo_t data; |
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data.config_index = sc->index; |
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data.sync_index = sync_index; |
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data.index = pdo_index; |
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if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) { |
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fprintf(stderr, "Failed to add PDO: %s\n", |
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strerror(errno)); |
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return -1; // FIXME |
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} |
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return 0; |
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} |
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/*****************************************************************************/ |
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void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc, |
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uint8_t sync_index) |
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{ |
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ec_ioctl_config_pdo_t data; |
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115 |
data.config_index = sc->index; |
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|
116 |
data.sync_index = sync_index; |
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|
117 |
|
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parents:
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changeset
|
118 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
119 |
fprintf(stderr, "Failed to clear PDOs: %s\n", |
1255
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|
120 |
strerror(errno)); |
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parents:
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changeset
|
121 |
} |
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parents:
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changeset
|
122 |
} |
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parents:
diff
changeset
|
123 |
|
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parents:
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changeset
|
124 |
/*****************************************************************************/ |
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parents:
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changeset
|
125 |
|
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parents:
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changeset
|
126 |
int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc, |
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|
127 |
uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex, |
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|
128 |
uint8_t entry_bit_length) |
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|
129 |
{ |
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|
130 |
ec_ioctl_add_pdo_entry_t data; |
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changeset
|
131 |
|
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|
132 |
data.config_index = sc->index; |
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|
133 |
data.pdo_index = pdo_index; |
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|
134 |
data.entry_index = entry_index; |
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|
135 |
data.entry_subindex = entry_subindex; |
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|
136 |
data.entry_bit_length = entry_bit_length; |
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diff
changeset
|
137 |
|
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parents:
diff
changeset
|
138 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
139 |
fprintf(stderr, "Failed to add PDO entry: %s\n", |
1255
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|
140 |
strerror(errno)); |
1313
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Improved error case return codes of many functions.
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|
141 |
return -1; // FIXME |
1255
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|
142 |
} |
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parents:
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changeset
|
143 |
|
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|
144 |
return 0; |
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parents:
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changeset
|
145 |
} |
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parents:
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changeset
|
146 |
|
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changeset
|
147 |
/*****************************************************************************/ |
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changeset
|
148 |
|
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changeset
|
149 |
void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc, |
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|
150 |
uint16_t pdo_index) |
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parents:
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changeset
|
151 |
{ |
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|
152 |
ec_ioctl_config_pdo_t data; |
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changeset
|
153 |
|
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changeset
|
154 |
data.config_index = sc->index; |
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changeset
|
155 |
data.index = pdo_index; |
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changeset
|
156 |
|
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parents:
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changeset
|
157 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
158 |
fprintf(stderr, "Failed to clear PDO entries: %s\n", |
1255
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|
159 |
strerror(errno)); |
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parents:
diff
changeset
|
160 |
} |
38b7e05b20c1
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parents:
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changeset
|
161 |
} |
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changeset
|
162 |
|
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changeset
|
163 |
/*****************************************************************************/ |
38b7e05b20c1
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changeset
|
164 |
|
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changeset
|
165 |
int ecrt_slave_config_pdos(ec_slave_config_t *sc, |
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|
166 |
unsigned int n_syncs, const ec_sync_info_t syncs[]) |
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changeset
|
167 |
{ |
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|
168 |
int ret; |
1255
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|
169 |
unsigned int i, j, k; |
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changeset
|
170 |
const ec_sync_info_t *sync_info; |
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|
171 |
const ec_pdo_info_t *pdo_info; |
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changeset
|
172 |
const ec_pdo_entry_info_t *entry_info; |
38b7e05b20c1
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parents:
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changeset
|
173 |
|
38b7e05b20c1
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parents:
diff
changeset
|
174 |
if (!syncs) |
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parents:
diff
changeset
|
175 |
return 0; |
38b7e05b20c1
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parents:
diff
changeset
|
176 |
|
38b7e05b20c1
Added some slave configuration methods.
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parents:
diff
changeset
|
177 |
for (i = 0; i < n_syncs; i++) { |
38b7e05b20c1
Added some slave configuration methods.
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parents:
diff
changeset
|
178 |
sync_info = &syncs[i]; |
38b7e05b20c1
Added some slave configuration methods.
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parents:
diff
changeset
|
179 |
|
38b7e05b20c1
Added some slave configuration methods.
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parents:
diff
changeset
|
180 |
if (sync_info->index == (uint8_t) EC_END) |
38b7e05b20c1
Added some slave configuration methods.
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parents:
diff
changeset
|
181 |
break; |
38b7e05b20c1
Added some slave configuration methods.
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parents:
diff
changeset
|
182 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
183 |
if (sync_info->index >= EC_MAX_SYNC_MANAGERS) { |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
184 |
fprintf(stderr, "Invalid sync manager index %u!\n", |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
185 |
sync_info->index); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
186 |
return -ENOENT; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
|
1509
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
189 |
ret = ecrt_slave_config_sync_manager(sc, sync_info->index, |
a864688e7de5
Added watchdog configuration via application interface (thanks to J. Mohre).
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
190 |
sync_info->dir, sync_info->watchdog_mode); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
191 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
192 |
return ret; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
194 |
if (sync_info->n_pdos && sync_info->pdos) { |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
ecrt_slave_config_pdo_assign_clear(sc, sync_info->index); |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
196 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
for (j = 0; j < sync_info->n_pdos; j++) { |
38b7e05b20c1
Added some slave configuration methods.
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parents:
diff
changeset
|
198 |
pdo_info = &sync_info->pdos[j]; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
200 |
ret = ecrt_slave_config_pdo_assign_add( |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
201 |
sc, sync_info->index, pdo_info->index); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
202 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
203 |
return ret; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
if (pdo_info->n_entries && pdo_info->entries) { |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index); |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
for (k = 0; k < pdo_info->n_entries; k++) { |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
entry_info = &pdo_info->entries[k]; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
211 |
ret = ecrt_slave_config_pdo_mapping_add(sc, |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
212 |
pdo_info->index, entry_info->index, |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
213 |
entry_info->subindex, |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
214 |
entry_info->bit_length); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
215 |
if (ret) |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
216 |
return ret; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
217 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
218 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
220 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
221 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
return 0; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
226 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
227 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
int ecrt_slave_config_reg_pdo_entry( |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
ec_slave_config_t *sc, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
uint16_t index, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
uint8_t subindex, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
ec_domain_t *domain, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
unsigned int *bit_position |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
ec_ioctl_reg_pdo_entry_t data; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
237 |
int ret; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
239 |
data.config_index = sc->index; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
data.entry_index = index; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
data.entry_subindex = subindex; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
242 |
data.domain_index = domain->index; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
243 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
244 |
ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data); |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
245 |
if (ret == -1) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
246 |
fprintf(stderr, "Failed to register PDO entry: %s\n", |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
247 |
strerror(errno)); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
248 |
return -2; // FIXME |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
249 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
250 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
251 |
if (bit_position) { |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
252 |
*bit_position = data.bit_position; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
253 |
} else { |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
254 |
if (data.bit_position) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
255 |
fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align " |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
256 |
"in config %u:%u.\n", index, subindex, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
257 |
sc->alias, sc->position); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
258 |
return -3; // FIXME |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
259 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
261 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
262 |
return ret; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
264 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
266 |
|
1448
d7ba0c408a07
Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents:
1438
diff
changeset
|
267 |
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate, |
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
|
268 |
uint32_t sync0_cycle_time, uint32_t sync0_shift_time, |
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
|
269 |
uint32_t sync1_cycle_time, uint32_t sync1_shift_time) |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1371
diff
changeset
|
270 |
{ |
1455
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
271 |
ec_ioctl_config_t data; |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
272 |
|
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
273 |
data.config_index = sc->index; |
aa18fcfe0fd1
Output DC config in 'ethercat config'.
Florian Pose <fp@igh-essen.com>
parents:
1448
diff
changeset
|
274 |
data.dc_assign_activate = assign_activate; |
1508 | 275 |
data.dc_sync[0].cycle_time = sync0_cycle_time; |
276 |
data.dc_sync[0].shift_time = sync0_shift_time; |
|
277 |
data.dc_sync[1].cycle_time = sync1_cycle_time; |
|
278 |
data.dc_sync[1].shift_time = sync1_shift_time; |
|
1438
1d30b96bb04f
Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals().
Florian Pose <fp@igh-essen.com>
parents:
1413
diff
changeset
|
279 |
|
1448
d7ba0c408a07
Merged ecrt_slave_config_dc_assign_activate() and
Florian Pose <fp@igh-essen.com>
parents:
1438
diff
changeset
|
280 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data) == -1) { |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1371
diff
changeset
|
281 |
fprintf(stderr, "Failed to set assign_activate word.\n"); |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1371
diff
changeset
|
282 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1371
diff
changeset
|
283 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1371
diff
changeset
|
284 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1371
diff
changeset
|
285 |
/*****************************************************************************/ |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1371
diff
changeset
|
286 |
|
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
288 |
uint8_t subindex, const uint8_t *sdo_data, size_t size) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
289 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
290 |
ec_ioctl_sc_sdo_t data; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
291 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
292 |
data.config_index = sc->index; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
293 |
data.index = index; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
294 |
data.subindex = subindex; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
data.data = sdo_data; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
data.size = size; |
1526
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
297 |
data.complete_access = 0; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
298 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
299 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) { |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
300 |
fprintf(stderr, "Failed to configure SDO.\n"); |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
301 |
return -1; // FIXME |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
302 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
303 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
304 |
return 0; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
305 |
} |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
306 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
307 |
/*****************************************************************************/ |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
308 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
309 |
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
|
310 |
const uint8_t *sdo_data, size_t size) |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
311 |
{ |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
312 |
ec_ioctl_sc_sdo_t data; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
313 |
|
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
314 |
data.config_index = sc->index; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
315 |
data.index = index; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
316 |
data.subindex = 0; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
317 |
data.data = sdo_data; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
318 |
data.size = size; |
66edd310830c
Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents:
1509
diff
changeset
|
319 |
data.complete_access = 1; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
|
1371
00e2975dc17b
Fixed SDO configuration via library.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
321 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
322 |
fprintf(stderr, "Failed to configure SDO.\n"); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
323 |
return -1; // FIXME |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
325 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
326 |
return 0; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
327 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
328 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
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
|
332 |
uint8_t subindex, uint8_t value) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
uint8_t data[1]; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
EC_WRITE_U8(data, value); |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
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
|
338 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
341 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
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
|
343 |
uint8_t subindex, uint16_t value) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
345 |
uint8_t data[2]; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
346 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
EC_WRITE_U16(data, value); |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
return ecrt_slave_config_sdo(sc, index, subindex, data, 2); |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
uint8_t subindex, uint32_t value) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
{ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
uint8_t data[4]; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
EC_WRITE_U32(data, value); |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
return ecrt_slave_config_sdo(sc, index, subindex, data, 4); |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
uint16_t index, uint8_t subindex, size_t size) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
{ |
1352
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
367 |
ec_ioctl_sdo_request_t data; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
368 |
ec_sdo_request_t *req; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
369 |
|
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
370 |
req = malloc(sizeof(ec_sdo_request_t)); |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
371 |
if (!req) { |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
372 |
fprintf(stderr, "Failed to allocate memory.\n"); |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
373 |
return 0; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
374 |
} |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
375 |
|
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
376 |
if (size) { |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
377 |
req->data = malloc(size); |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
378 |
if (!req->data) { |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
379 |
fprintf(stderr, "Failed to allocate %u bytes of SDO data" |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
380 |
" memory.\n", size); |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
381 |
free(req); |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
382 |
return 0; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
383 |
} |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
384 |
} else { |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
385 |
req->data = NULL; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
386 |
} |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
387 |
|
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
388 |
data.config_index = sc->index; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
389 |
data.sdo_index = index; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
390 |
data.sdo_subindex = subindex; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
391 |
data.size = size; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
392 |
|
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
393 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) { |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
394 |
fprintf(stderr, "Failed to create SDO request: %s\n", |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
395 |
strerror(errno)); |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
396 |
if (req->data) |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
397 |
free(req->data); |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
398 |
free(req); |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
399 |
return NULL; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
400 |
} |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
401 |
|
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
402 |
req->config = sc; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
403 |
req->index = data.request_index; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
404 |
req->sdo_index = data.sdo_index; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
405 |
req->sdo_subindex = data.sdo_subindex; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
406 |
req->data_size = size; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
407 |
req->mem_size = size; |
275d2fdeab48
Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1327
diff
changeset
|
408 |
return req; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
409 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
410 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
411 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
412 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
413 |
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
414 |
size_t size) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
{ |
1264
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
416 |
ec_ioctl_voe_t data; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
417 |
ec_voe_handler_t *voe; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
418 |
unsigned int index; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
419 |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
420 |
voe = malloc(sizeof(ec_voe_handler_t)); |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
421 |
if (!voe) { |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
422 |
fprintf(stderr, "Failed to allocate memory.\n"); |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
423 |
return 0; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
424 |
} |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
425 |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
426 |
if (size) { |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
427 |
voe->data = malloc(size); |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
428 |
if (!voe->data) { |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
429 |
fprintf(stderr, "Failed to allocate %u bytes of VoE data" |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
430 |
" memory.\n", size); |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
431 |
free(voe); |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
432 |
return 0; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
433 |
} |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
434 |
} else { |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
435 |
voe->data = NULL; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
436 |
} |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
437 |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
438 |
data.config_index = sc->index; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
439 |
data.size = size; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
440 |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
441 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) { |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
442 |
fprintf(stderr, "Failed to create VoE handler: %s\n", |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
443 |
strerror(errno)); |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
444 |
if (voe->data) |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
445 |
free(voe->data); |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
446 |
free(voe); |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
447 |
return NULL; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
448 |
} |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
449 |
|
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
450 |
voe->config = sc; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
451 |
voe->index = data.voe_index; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
452 |
voe->data_size = size; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
453 |
voe->mem_size = size; |
e7882f246d7a
Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1259
diff
changeset
|
454 |
return voe; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
455 |
} |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
/*****************************************************************************/ |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
458 |
|
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
459 |
void ecrt_slave_config_state(const ec_slave_config_t *sc, |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
460 |
ec_slave_config_state_t *state) |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
461 |
{ |
1259
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
462 |
ec_ioctl_sc_state_t data; |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
463 |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
464 |
data.config_index = sc->index; |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
465 |
data.state = state; |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
466 |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
467 |
if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) { |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
468 |
fprintf(stderr, "Failed to get slave configuration state: %s\n", |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
469 |
strerror(errno)); |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
470 |
} |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
471 |
} |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
472 |
|
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
473 |
/*****************************************************************************/ |