etherlabmaster: lib/master.c@3425c621ee46 (annotated)

2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	1	/*****************************************************************************
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	2	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	3	* $Id$
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	4	*
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	5	* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	6	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	7	* This file is part of the IgH EtherCAT master userspace library.
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	9	* The IgH EtherCAT master userspace library is free software; you can
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	10	* redistribute it and/or modify it under the terms of the GNU Lesser General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	11	* Public License as published by the Free Software Foundation; version 2.1
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	12	* of the License.
1287 cc7b679c74e9 Improved LGPL headers. Florian Pose <fp@igh-essen.com> parents: 1266 diff changeset	13	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	14	* The IgH EtherCAT master userspace library is distributed in the hope that
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	15	* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	16	* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	17	* GNU Lesser General Public License for more details.
1287 cc7b679c74e9 Improved LGPL headers. Florian Pose <fp@igh-essen.com> parents: 1266 diff changeset	18	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	19	* You should have received a copy of the GNU Lesser General Public License
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	20	* along with the IgH EtherCAT master userspace library. If not, see
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	21	* <http://www.gnu.org/licenses/>.
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	22	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	23	* ---
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	24	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	25	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	26	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	27	* industrial property and similar rights of Beckhoff Automation GmbH.
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	29	****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	30
2427 17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	31	#include <unistd.h> /* close() */
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <stdlib.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <stdio.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include <errno.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include <string.h>
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	36	#include <sys/mman.h>
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	38	#include "ioctl.h"
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "master.h"
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "domain.h"
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	41	#include "slave_config.h"
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	43	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	45	int ecrt_master_reserve(ec_master_t *master)
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	46	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	47	int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	48	if (EC_IOCTL_IS_ERROR(ret)) {
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	49	fprintf(stderr, "Failed to reserve master: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	50	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	51	return -EC_IOCTL_ERRNO(ret);
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	52	}
1975 8e173dddd183 Improved compiling on 2.6.34 (thanks to Malcolm Lewis). Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	53	return 0;
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	54	}
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	55
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	56	/****************************************************************************/
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	57
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	58	void ec_master_clear_config(ec_master_t *master)
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	59	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	60	ec_domain_t d, next_d;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	61	ec_slave_config_t c, next_c;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	62
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	63	d = master->first_domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	64	while (d) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	65	next_d = d->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	66	ec_domain_clear(d);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	67	d = next_d;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	68	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	69	master->first_domain = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	70
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	71	c = master->first_config;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	72	while (c) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	73	next_c = c->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	74	ec_slave_config_clear(c);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	75	c = next_c;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	76	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	77	master->first_config = NULL;
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	78	}
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	79
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	80	/****************************************************************************/
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	81
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	82	void ec_master_clear(ec_master_t *master)
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	83	{
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	84	if (master->process_data) {
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	85	munmap(master->process_data, master->process_data_size);
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	86	}
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	87
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	88	ec_master_clear_config(master);
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	89
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	90	if (master->fd != -1) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	91	#if USE_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	92	rt_dev_close(master->fd);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	93	#else
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	94	close(master->fd);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	95	#endif
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	96	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	97	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	98
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	99	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	100
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	101	void ec_master_add_domain(ec_master_t master, ec_domain_t domain)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	102	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	103	if (master->first_domain) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	104	ec_domain_t *d = master->first_domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	105	while (d->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	106	d = d->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	107	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	108	d->next = domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	109	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	110	master->first_domain = domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	111	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	112	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	113
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	114	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	115
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	ec_domain_t ecrt_master_create_domain(ec_master_t master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	{
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	ec_domain_t *domain;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	int index;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	domain = malloc(sizeof(ec_domain_t));
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	if (!domain) {
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	fprintf(stderr, "Failed to allocate memory.\n");
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	return 0;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	}
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	126
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	128	if (EC_IOCTL_IS_ERROR(index)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	129	fprintf(stderr, "Failed to create domain: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	130	strerror(EC_IOCTL_ERRNO(index)));
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	free(domain);
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	132	return 0;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	134
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	135	domain->next = NULL;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	domain->index = (unsigned int) index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	137	domain->master = master;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	138	domain->process_data = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	139
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	140	ec_master_add_domain(master, domain);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	141
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	return domain;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	145	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	146
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	147	void ec_master_add_slave_config(ec_master_t master, ec_slave_config_t sc)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	148	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	149	if (master->first_config) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	150	ec_slave_config_t *c = master->first_config;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	151	while (c->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	152	c = c->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	153	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	154	c->next = sc;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	155	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	156	master->first_config = sc;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	157	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	158	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	159
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	160	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	161
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	ec_slave_config_t ecrt_master_slave_config(ec_master_t master,
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	uint16_t alias, uint16_t position, uint32_t vendor_id,
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	uint32_t product_code)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	{
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	166	ec_ioctl_config_t data;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	167	ec_slave_config_t *sc;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	168	int ret;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	169
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	170	sc = malloc(sizeof(ec_slave_config_t));
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	171	if (!sc) {
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	172	fprintf(stderr, "Failed to allocate memory.\n");
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	173	return 0;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	174	}
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	175
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	176	data.alias = alias;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	177	data.position = position;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	178	data.vendor_id = vendor_id;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	179	data.product_code = product_code;
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	180
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	181	ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	182	if (EC_IOCTL_IS_ERROR(ret)) {
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	183	fprintf(stderr, "Failed to create slave config: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	184	strerror(EC_IOCTL_ERRNO(ret)));
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	185	free(sc);
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	186	return 0;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	187	}
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	188
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	189	sc->next = NULL;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	190	sc->master = master;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	191	sc->index = data.config_index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	192	sc->alias = alias;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	193	sc->position = position;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	194	sc->first_sdo_request = NULL;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	195	sc->first_reg_request = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	196	sc->first_voe_handler = NULL;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	197
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	198	ec_master_add_slave_config(master, sc);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	199
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	200	return sc;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	202
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	203	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	204
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	205	int ecrt_master(ec_master_t master, ec_master_info_t master_info)
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	206	{
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	207	ec_ioctl_master_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	208	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	209
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	210	ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	211	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	212	fprintf(stderr, "Failed to get master info: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	213	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	214	return -EC_IOCTL_ERRNO(ret);
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	215	}
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	216
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	217	master_info->slave_count = data.slave_count;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	218	master_info->link_up = data.devices[0].link_state;
1579 326d47aa986c applied komax patch to version r1822 Martin Troxler <martin.troxler@komaxgroup.com> parents: 1510 diff changeset	219	master_info->scan_busy = data.scan_busy;
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	220	master_info->app_time = data.app_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	221	return 0;
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	222	}
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	223
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	224	/****************************************************************************/
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	225
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	226	int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	227	ec_slave_info_t *slave_info)
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	228	{
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	229	ec_ioctl_slave_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	230	int ret, i;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	231
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	232	data.position = slave_position;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	233
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	234	ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	235	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	236	fprintf(stderr, "Failed to get slave info: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	237	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	238	return -EC_IOCTL_ERRNO(ret);
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	239	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	240
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	241	slave_info->position = data.position;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	242	slave_info->vendor_id = data.vendor_id;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	243	slave_info->product_code = data.product_code;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	244	slave_info->revision_number = data.revision_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	245	slave_info->serial_number = data.serial_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	246	slave_info->alias = data.alias;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	247	slave_info->current_on_ebus = data.current_on_ebus;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	248	for (i = 0; i < EC_MAX_PORTS; i++) {
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	249	slave_info->ports[i].desc = data.ports[i].desc;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	250	slave_info->ports[i].link.link_up = data.ports[i].link.link_up;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	251	slave_info->ports[i].link.loop_closed =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	252	data.ports[i].link.loop_closed;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	253	slave_info->ports[i].link.signal_detected =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	254	data.ports[i].link.signal_detected;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	255	slave_info->ports[i].receive_time = data.ports[i].receive_time;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	256	slave_info->ports[i].next_slave = data.ports[i].next_slave;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	257	slave_info->ports[i].delay_to_next_dc =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	258	data.ports[i].delay_to_next_dc;
2242 d23f69156cfd Fixed copying port information. Stefan Weiser <ch1010858@ch10pc584> parents: 2241 diff changeset	259	}
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	260	slave_info->al_state = data.al_state;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	261	slave_info->error_flag = data.error_flag;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	262	slave_info->sync_count = data.sync_count;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	263	slave_info->sdo_count = data.sdo_count;
1593 fb8337e664fb Fixed string length constant bug. Florian Pose <fp@igh-essen.com> parents: 1585 diff changeset	264	strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	265	return 0;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	266	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	267
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	268	/****************************************************************************/
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	269
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	270	int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	271	uint8_t sync_index, ec_sync_info_t *sync)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	272	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	273	ec_ioctl_slave_sync_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	274	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	275
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	276	if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	277	return -ENOENT;
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	278	}
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	279
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	280	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	281	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	282	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	283
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	284	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	285	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	286	fprintf(stderr, "Failed to get sync manager information: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	287	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	288	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	289	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	290
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	291	sync->index = sync_index;
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	292	sync->dir = EC_READ_BIT(&data.control_register, 2) ?
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	293	EC_DIR_OUTPUT : EC_DIR_INPUT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	294	sync->n_pdos = data.pdo_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	295	sync->pdos = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	296	sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	297	EC_WD_ENABLE : EC_WD_DISABLE;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	298
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	299	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	300	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	301
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	302	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	303
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	304	int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	305	uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	306	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	307	ec_ioctl_slave_sync_pdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	308	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	309
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	310	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	311	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	312
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	313	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	314	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	315	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	316	data.pdo_pos = pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	317
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	318	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	319	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	320	fprintf(stderr, "Failed to get pdo information: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	321	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	322	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	323	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	324
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	325	pdo->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	326	pdo->n_entries = data.entry_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	327	pdo->entries = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	328
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	329	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	330	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	331
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	332	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	333
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	334	int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	335	uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	336	ec_pdo_entry_info_t *entry)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	337	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	338	ec_ioctl_slave_sync_pdo_entry_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	339	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	340
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	341	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	342	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	343
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	344	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	345	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	346	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	347	data.pdo_pos = pdo_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	348	data.entry_pos = entry_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	349
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	350	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	351	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	352	fprintf(stderr, "Failed to get pdo entry information: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	353	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	354	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	355	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	356
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	357	entry->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	358	entry->subindex = data.subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	359	entry->bit_length = data.bit_length;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	360
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	361	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	362	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	363
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	364	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	365
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	366	int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	367	uint16_t index, uint8_t subindex, uint8_t *data,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	368	size_t data_size, uint32_t *abort_code)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	369	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	370	ec_ioctl_slave_sdo_download_t download;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	371	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	372
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	373	download.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	374	download.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	375	download.sdo_entry_subindex = subindex;
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	376	download.complete_access = 0;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	377	download.data_size = data_size;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	378	download.data = data;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	379
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	380	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	381	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	382	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	383	*abort_code = download.abort_code;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	384	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	385	fprintf(stderr, "Failed to execute SDO download: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	386	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	387	return -EC_IOCTL_ERRNO(ret);
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	388	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	389
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	390	return 0;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	391	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	392
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	393	/****************************************************************************/
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	394
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	395	int ecrt_master_sdo_download_complete(ec_master_t *master,
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	396	uint16_t slave_position, uint16_t index, uint8_t *data,
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	397	size_t data_size, uint32_t *abort_code)
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	398	{
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	399	ec_ioctl_slave_sdo_download_t download;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	400	int ret;
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	401
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	402	download.slave_position = slave_position;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	403	download.sdo_index = index;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	404	download.sdo_entry_subindex = 0;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	405	download.complete_access = 1;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	406	download.data_size = data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	407	download.data = data;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	408
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	409	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	410	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	411	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
1911 460baca4df83 Fixed errno usage in user library. Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	412	*abort_code = download.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	413	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	414	fprintf(stderr, "Failed to execute SDO download: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	415	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	416	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	417	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	418
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	419	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	420	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	421
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	422	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	423
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	424	int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	425	uint16_t index, uint8_t subindex, uint8_t *target,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	426	size_t target_size, size_t result_size, uint32_t abort_code)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	427	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	428	ec_ioctl_slave_sdo_upload_t upload;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	429	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	430
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	431	upload.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	432	upload.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	433	upload.sdo_entry_subindex = subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	434	upload.target_size = target_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	435	upload.target = target;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	436
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	437	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	438	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	439	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
1911 460baca4df83 Fixed errno usage in user library. Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	440	*abort_code = upload.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	441	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	442	fprintf(stderr, "Failed to execute SDO upload: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	443	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	444	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	445	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	446
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	447	*result_size = upload.data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	448	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	449	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	450
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	451	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	452
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	453	int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	454	uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	455	uint16_t *error_code)
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	456	{
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	457	ec_ioctl_slave_soe_write_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	458	int ret;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	459
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	460	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	461	io.drive_no = drive_no;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	462	io.idn = idn;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	463	io.data_size = data_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	464	io.data = data;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	465
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	466	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	467	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	468	if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	469	*error_code = io.error_code;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	470	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	471	fprintf(stderr, "Failed to write IDN: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	472	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	473	return -EC_IOCTL_ERRNO(ret);
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	474	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	475
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	476	return 0;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	477	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	478
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	479	/****************************************************************************/
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	480
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	481	int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	482	uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
1947 024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	483	size_t result_size, uint16_t error_code)
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	484	{
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	485	ec_ioctl_slave_soe_read_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	486	int ret;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	487
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	488	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	489	io.drive_no = drive_no;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	490	io.idn = idn;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	491	io.mem_size = target_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	492	io.data = target;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	493
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	494	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	495	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	496	if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	497	*error_code = io.error_code;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	498	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	499	fprintf(stderr, "Failed to read IDN: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	500	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	501	return -EC_IOCTL_ERRNO(ret);
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	502	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	503
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	504	*result_size = io.data_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	505	return 0;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	506	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	507
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	508	/****************************************************************************/
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	509
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	510	int ecrt_master_activate(ec_master_t *master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	511	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	512	ec_ioctl_master_activate_t io;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	513	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	514
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	515	ret = ioctl(master->fd, EC_IOCTL_ACTIVATE, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	516	if (EC_IOCTL_IS_ERROR(ret)) {
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	517	fprintf(stderr, "Failed to activate master: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	518	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	519	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	520	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	521
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	522	master->process_data_size = io.process_data_size;
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	523
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	524	if (master->process_data_size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	525	#ifdef USE_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	526	/* memory-mapping was already done in kernel. The user-space addess is
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	527	* provided in the ioctl data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	528	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	529	master->process_data = io.process_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	530	#else
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	531	master->process_data = mmap(0, master->process_data_size,
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	532	PROT_READ \| PROT_WRITE, MAP_SHARED, master->fd, 0);
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	533	if (master->process_data == MAP_FAILED) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	534	fprintf(stderr, "Failed to map process data: %s\n",
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	535	strerror(errno));
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	536	master->process_data = NULL;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	537	master->process_data_size = 0;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	538	return -errno;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	539	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	540	#endif
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	541
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	542	// Access the mapped region to cause the initial page fault
2062 9cc8f64726bb Removed "Pd: 0" output that does the initial pagefault. Write to the Florian Pose <fp@igh-essen.com> parents: 2009 diff changeset	543	master->process_data[0] = 0x00;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	544	}
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	545
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	546	return 0;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	547	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	548
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	549	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	550
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	551	void ecrt_master_deactivate(ec_master_t *master)
6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	552	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	553	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	554
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	555	ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	556	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	557	fprintf(stderr, "Failed to deactivate master: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	558	strerror(EC_IOCTL_ERRNO(ret)));
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	559	return;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	560	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	561
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	562	ec_master_clear_config(master);
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	563	}
1585 1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	564
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	565	/****************************************************************************/
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	566
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	567	int ecrt_master_set_send_interval(ec_master_t *master,
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	568	size_t send_interval_us)
1600 e36c92cf58a9 use given send interval to limit SDO/FOE traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1585 diff changeset	569	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	570	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	571
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	572	ret = ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, &send_interval_us);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	573	if (EC_IOCTL_IS_ERROR(ret)) {
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	574	fprintf(stderr, "Failed to set send interval: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	575	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	576	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	577	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	578
1585 1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	579	return 0;
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	580	}
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	581
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	582	/****************************************************************************/
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	583
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	584	void ecrt_master_send(ec_master_t *master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	585	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	586	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	587
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	588	ret = ioctl(master->fd, EC_IOCTL_SEND, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	589	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	590	fprintf(stderr, "Failed to send: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	591	strerror(EC_IOCTL_ERRNO(ret)));
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	592	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	593	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	594
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	595	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	596
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	597	void ecrt_master_receive(ec_master_t *master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	598	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	599	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	600
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	601	ret = ioctl(master->fd, EC_IOCTL_RECEIVE, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	602	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	603	fprintf(stderr, "Failed to receive: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	604	strerror(EC_IOCTL_ERRNO(ret)));
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	605	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	606	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	607
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	608	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	609
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	610	void ecrt_master_state(const ec_master_t master, ec_master_state_t state)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	611	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	612	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	613
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	614	ret = ioctl(master->fd, EC_IOCTL_MASTER_STATE, state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	615	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	616	fprintf(stderr, "Failed to get master state: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	617	strerror(EC_IOCTL_ERRNO(ret)));
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	618	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	619	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	620
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	621	/****************************************************************************/
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	622
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	623	int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx,
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	624	ec_master_link_state_t *state)
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	625	{
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	626	ec_ioctl_link_state_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	627	int ret;
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	628
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	629	io.dev_idx = dev_idx;
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	630	io.state = state;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	631
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	632	ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	633	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	634	fprintf(stderr, "Failed to get link state: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	635	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	636	return -EC_IOCTL_ERRNO(ret);
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	637	}
2427 17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	638
17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	639	return 0;
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	640	}
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	641
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	642	/****************************************************************************/
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	643
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	644	void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	645	{
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	646	ec_ioctl_app_time_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	647	int ret;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	648
1417 7c2d5d69134c Replaced timeval by 64-bit EtherCAT time. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	649	data.app_time = app_time;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	650
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	651	ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	652	if (EC_IOCTL_IS_ERROR(ret)) {
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	653	fprintf(stderr, "Failed to set application time: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	654	strerror(EC_IOCTL_ERRNO(ret)));
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	655	}
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	656	}
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	657
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	658	/****************************************************************************/
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	659
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	660	void ecrt_master_sync_reference_clock(ec_master_t *master)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	661	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	662	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	663
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	664	ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	665	if (EC_IOCTL_IS_ERROR(ret)) {
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	666	fprintf(stderr, "Failed to sync reference clock: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	667	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	668	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	669	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	670
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	671	/****************************************************************************/
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	672
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	673	void ecrt_master_sync_slave_clocks(ec_master_t *master)
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	674	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	675	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	676
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	677	ret = ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	678	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	679	fprintf(stderr, "Failed to sync slave clocks: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	680	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	681	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	682	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	683
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	684	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	685
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	686	void ecrt_master_sync_monitor_queue(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	687	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	688	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	689
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	690	ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	691	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	692	fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	693	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	694	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	695	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	696
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	697	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	698
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	699	uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	700	{
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	701	uint32_t time_diff;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	702	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	703
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	704	ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	705	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	706	time_diff = 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	707	fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	708	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	709	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	710
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	711	return time_diff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	712	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	713
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	714	/****************************************************************************/
2009 b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	715
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	716	void ecrt_master_reset(ec_master_t *master)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	717	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	718	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	719
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	720	ret = ioctl(master->fd, EC_IOCTL_RESET, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	721	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	722	fprintf(stderr, "Failed to reset master: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	723	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	724	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	725	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	726
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	727	/****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 20 Nov 2012 14:33:16 +0100
branch	stable-1.5
changeset 2446	3425c621ee46
parent 2443	2c3ccdde3919
child 2447	e93efb4af231
permissions	-rw-r--r--