lib/master.c
author Florian Pose <fp@igh-essen.com>
Thu, 06 Sep 2012 13:49:03 +0200
branchstable-1.5
changeset 2416 375dba75a24b
parent 2242 d23f69156cfd
child 2380 cf9db49bcce8
permissions -rw-r--r--
Fixed malformed keywords.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT master userspace library.
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 *
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 *  The IgH EtherCAT master userspace library is free software; you can
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 *  redistribute it and/or modify it under the terms of the GNU Lesser General
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 *  Public License as published by the Free Software Foundation; version 2.1
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 *  of the License.
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 *
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 *  The IgH EtherCAT master userspace library is distributed in the hope that
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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU Lesser General Public License for more details.
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 *
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 *  You should have received a copy of the GNU Lesser General Public License
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 *  along with the IgH EtherCAT master userspace library. If not, see
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 *  <http://www.gnu.org/licenses/>.
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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#include <stdlib.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include <sys/mman.h>
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#include "master.h"
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#include "domain.h"
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#include "slave_config.h"
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#include "master/ioctl.h"
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/*****************************************************************************/
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int ecrt_master_reserve(ec_master_t *master)
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{
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    if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
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        fprintf(stderr, "Failed to reserve master: %s\n",
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                strerror(errno));
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ec_master_clear_config(ec_master_t *master)
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{
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    ec_domain_t *d, *next_d;
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    ec_slave_config_t *c, *next_c;
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    d = master->first_domain;
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    while (d) {
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        next_d = d->next;
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        ec_domain_clear(d);
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        d = next_d;
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    }
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    master->first_domain = NULL;
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    c = master->first_config;
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    while (c) {
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        next_c = c->next;
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        ec_slave_config_clear(c);
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        c = next_c;
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    }
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    master->first_config = NULL;
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}
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/*****************************************************************************/
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void ec_master_clear(ec_master_t *master)
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{
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    if (master->process_data)  {
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        munmap(master->process_data, master->process_data_size);
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    }
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    ec_master_clear_config(master);
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    if (master->fd != -1) {
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        close(master->fd);
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    }
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}
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/*****************************************************************************/
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void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain)
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{
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    if (master->first_domain) {
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        ec_domain_t *d = master->first_domain;
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        while (d->next) {
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            d = d->next;
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        }
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        d->next = domain;
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    } else {
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        master->first_domain = domain;
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    }
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}
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/*****************************************************************************/
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ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
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{
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    ec_domain_t *domain;
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    int index;
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    domain = malloc(sizeof(ec_domain_t));
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    if (!domain) {
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        fprintf(stderr, "Failed to allocate memory.\n");
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        return 0;
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    }
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    index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
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    if (index == -1) {
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        fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
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        free(domain);
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        return 0;
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    }
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    domain->next = NULL;
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    domain->index = (unsigned int) index;
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    domain->master = master;
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    domain->process_data = NULL;
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    ec_master_add_domain(master, domain);
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    return domain;
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}
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/*****************************************************************************/
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1959
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void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc)
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{
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    if (master->first_config) {
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        ec_slave_config_t *c = master->first_config;
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        while (c->next) {
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            c = c->next;
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   147
        }
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        c->next = sc;
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   149
    } else {
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   150
        master->first_config = sc;
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   151
    }
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}
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   154
/*****************************************************************************/
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   155
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ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
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        uint16_t alias, uint16_t position, uint32_t vendor_id,
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        uint32_t product_code)
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{
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    ec_ioctl_config_t data;
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    ec_slave_config_t *sc;
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    int index;
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    sc = malloc(sizeof(ec_slave_config_t));
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    if (!sc) {
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        fprintf(stderr, "Failed to allocate memory.\n");
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        return 0;
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   168
    }
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    data.alias = alias;
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   171
    data.position = position;
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    data.vendor_id = vendor_id;
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    data.product_code = product_code;
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   174
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    if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
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   176
        fprintf(stderr, "Failed to create slave config: %s\n",
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   177
                strerror(errno));
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        free(sc);
2241
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        return 0;
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    }
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   181
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    sc->next = NULL;
1255
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    sc->master = master;
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   184
    sc->index = data.config_index;
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    sc->alias = alias;
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    sc->position = position;
1959
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   187
    sc->first_sdo_request = NULL;
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   188
    sc->first_voe_handler = NULL;
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   189
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    ec_master_add_slave_config(master, sc);
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   191
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   192
    return sc;
1244
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   193
}
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/*****************************************************************************/
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   196
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int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)
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   198
{
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60a116ed3897 Removed more tabulators.
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   199
    ec_ioctl_master_t data;
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   200
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   201
    if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
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   202
        fprintf(stderr, "Failed to get master info: %s\n", strerror(errno));
1508
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   203
        return -1;
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   204
    }
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   205
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   206
    master_info->slave_count = data.slave_count;
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   207
    master_info->link_up = data.devices[0].link_state;
1579
326d47aa986c applied komax patch to version r1822
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diff changeset
   208
    master_info->scan_busy = data.scan_busy;
1508
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   209
    master_info->app_time = data.app_time;
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   210
    return 0;
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diff changeset
   211
}
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   212
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   213
/*****************************************************************************/
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diff changeset
   214
1510
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diff changeset
   215
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
1341
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   216
        ec_slave_info_t *slave_info)
32ba7ffb6c7f Added ecrt_master_slave().
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   217
{
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   218
    ec_ioctl_slave_t data;
2242
d23f69156cfd Fixed copying port information.
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   219
    int index, i;
1341
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   220
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   221
    data.position = slave_position;
1341
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   222
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   223
    if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
1497
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diff changeset
   224
        fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno));
1341
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   225
        return -1;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   226
    }
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   227
32ba7ffb6c7f Added ecrt_master_slave().
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   228
    slave_info->position = data.position;
32ba7ffb6c7f Added ecrt_master_slave().
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   229
    slave_info->vendor_id = data.vendor_id;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   230
    slave_info->product_code = data.product_code;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   231
    slave_info->revision_number = data.revision_number;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   232
    slave_info->serial_number = data.serial_number;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   233
    slave_info->alias = data.alias;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   234
    slave_info->current_on_ebus = data.current_on_ebus;
2242
d23f69156cfd Fixed copying port information.
Stefan Weiser <ch1010858@ch10pc584>
parents: 2241
diff changeset
   235
    for ( i = 0; i < EC_MAX_PORTS; i++ ) {
d23f69156cfd Fixed copying port information.
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parents: 2241
diff changeset
   236
    	slave_info->ports[i].desc = data.ports[i].desc;
d23f69156cfd Fixed copying port information.
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parents: 2241
diff changeset
   237
    	slave_info->ports[i].link.link_up = data.ports[i].link.link_up;
d23f69156cfd Fixed copying port information.
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parents: 2241
diff changeset
   238
    	slave_info->ports[i].link.loop_closed = data.ports[i].link.loop_closed;
d23f69156cfd Fixed copying port information.
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parents: 2241
diff changeset
   239
    	slave_info->ports[i].link.signal_detected = data.ports[i].link.signal_detected;
d23f69156cfd Fixed copying port information.
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parents: 2241
diff changeset
   240
    	slave_info->ports[i].receive_time = data.ports[i].receive_time;
d23f69156cfd Fixed copying port information.
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parents: 2241
diff changeset
   241
    	slave_info->ports[i].next_slave = data.ports[i].next_slave;
d23f69156cfd Fixed copying port information.
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parents: 2241
diff changeset
   242
    	slave_info->ports[i].delay_to_next_dc = data.ports[i].delay_to_next_dc;
d23f69156cfd Fixed copying port information.
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parents: 2241
diff changeset
   243
    }
1341
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   244
    slave_info->al_state = data.al_state;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   245
    slave_info->error_flag = data.error_flag;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   246
    slave_info->sync_count = data.sync_count;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   247
    slave_info->sdo_count = data.sdo_count;
1593
fb8337e664fb Fixed string length constant bug.
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parents: 1585
diff changeset
   248
    strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
1341
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   249
    return 0;
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   250
}
32ba7ffb6c7f Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
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diff changeset
   251
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   252
/*****************************************************************************/
32ba7ffb6c7f Added ecrt_master_slave().
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diff changeset
   253
1510
88b608a1a7f3 Improved bus information API.
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diff changeset
   254
int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   255
        uint8_t sync_index, ec_sync_info_t *sync)
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   256
{
1804
742607c464c4 Removed tabulators.
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parents: 1611
diff changeset
   257
    ec_ioctl_slave_sync_t data;
1510
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   258
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   259
    if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API.
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diff changeset
   260
        return -ENOENT;
88b608a1a7f3 Improved bus information API.
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diff changeset
   261
88b608a1a7f3 Improved bus information API.
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diff changeset
   262
    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   263
    data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   264
    data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API.
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diff changeset
   265
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   266
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data) == -1) {
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   267
        fprintf(stderr, "Failed to get sync manager information: %s\n",
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   268
                strerror(errno));
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   269
        return -1; // FIXME
88b608a1a7f3 Improved bus information API.
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parents: 1508
diff changeset
   270
    }
88b608a1a7f3 Improved bus information API.
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    sync->index = sync_index;
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    sync->dir = EC_READ_BIT(&data.control_register, 2) ?
1510
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        EC_DIR_OUTPUT : EC_DIR_INPUT;
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   275
    sync->n_pdos = data.pdo_count;
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   276
    sync->pdos = NULL;
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   277
    sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?
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   278
        EC_WD_ENABLE : EC_WD_DISABLE;
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   279
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   280
    return 0;
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   281
}
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/*****************************************************************************/
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   284
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   285
int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API.
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        uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
88b608a1a7f3 Improved bus information API.
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{
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   288
    ec_ioctl_slave_sync_pdo_t data;
1510
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   289
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   290
    if (sync_index >= EC_MAX_SYNC_MANAGERS)
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   291
        return -ENOENT;
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   292
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   293
    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
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   294
    data.slave_position = slave_position;
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   295
    data.sync_index = sync_index;
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   296
    data.pdo_pos = pos;
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   297
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   298
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data) == -1) {
88b608a1a7f3 Improved bus information API.
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   299
        fprintf(stderr, "Failed to get pdo information: %s\n",
88b608a1a7f3 Improved bus information API.
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   300
                strerror(errno));
88b608a1a7f3 Improved bus information API.
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   301
        return -1; // FIXME
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   302
    }
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   303
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   304
    pdo->index = data.index;
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   305
    pdo->n_entries = data.entry_count;
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   306
    pdo->entries = NULL;
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   307
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   308
    return 0;
88b608a1a7f3 Improved bus information API.
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   309
}
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   310
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   311
/*****************************************************************************/
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   312
88b608a1a7f3 Improved bus information API.
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   313
int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API.
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   314
        uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
88b608a1a7f3 Improved bus information API.
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   315
        ec_pdo_entry_info_t *entry)
88b608a1a7f3 Improved bus information API.
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   316
{
1804
742607c464c4 Removed tabulators.
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   317
    ec_ioctl_slave_sync_pdo_entry_t data;
1510
88b608a1a7f3 Improved bus information API.
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   318
88b608a1a7f3 Improved bus information API.
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   319
    if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API.
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   320
        return -ENOENT;
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   321
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   322
    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
88b608a1a7f3 Improved bus information API.
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   323
    data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API.
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   324
    data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API.
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   325
    data.pdo_pos = pdo_pos;
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   326
    data.entry_pos = entry_pos;
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diff changeset
   327
88b608a1a7f3 Improved bus information API.
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diff changeset
   328
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data) == -1) {
88b608a1a7f3 Improved bus information API.
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diff changeset
   329
        fprintf(stderr, "Failed to get pdo entry information: %s\n",
88b608a1a7f3 Improved bus information API.
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diff changeset
   330
                strerror(errno));
88b608a1a7f3 Improved bus information API.
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diff changeset
   331
        return -1; // FIXME
88b608a1a7f3 Improved bus information API.
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diff changeset
   332
    }
88b608a1a7f3 Improved bus information API.
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diff changeset
   333
88b608a1a7f3 Improved bus information API.
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diff changeset
   334
    entry->index = data.index;
88b608a1a7f3 Improved bus information API.
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diff changeset
   335
    entry->subindex = data.subindex;
88b608a1a7f3 Improved bus information API.
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diff changeset
   336
    entry->bit_length = data.bit_length;
88b608a1a7f3 Improved bus information API.
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diff changeset
   337
88b608a1a7f3 Improved bus information API.
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diff changeset
   338
    return 0;
88b608a1a7f3 Improved bus information API.
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diff changeset
   339
}
88b608a1a7f3 Improved bus information API.
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   340
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   341
/*****************************************************************************/
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   342
88b608a1a7f3 Improved bus information API.
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   343
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API.
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diff changeset
   344
        uint16_t index, uint8_t subindex, uint8_t *data,
88b608a1a7f3 Improved bus information API.
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diff changeset
   345
        size_t data_size, uint32_t *abort_code)
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
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diff changeset
   346
{
88b608a1a7f3 Improved bus information API.
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diff changeset
   347
    ec_ioctl_slave_sdo_download_t download;
88b608a1a7f3 Improved bus information API.
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diff changeset
   348
88b608a1a7f3 Improved bus information API.
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diff changeset
   349
    download.slave_position = slave_position;
88b608a1a7f3 Improved bus information API.
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diff changeset
   350
    download.sdo_index = index;
88b608a1a7f3 Improved bus information API.
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diff changeset
   351
    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
   352
    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
   353
    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
   354
    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
   355
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   356
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   357
        if (errno == EIO && 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
   358
            *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
   359
        }
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   360
        fprintf(stderr, "Failed to execute SDO download: %s\n",
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   361
            strerror(errno));
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   362
        return -1;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   363
    }
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   364
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   365
    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
   366
}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   367
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
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diff changeset
   368
/*****************************************************************************/
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
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parents: 2062
diff changeset
   369
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   370
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
   371
        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
   372
        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
   373
{
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   374
    ec_ioctl_slave_sdo_download_t download;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents: 2062
diff changeset
   375
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.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
   377
    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
   378
    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
   379
    download.complete_access = 1;
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   380
    download.data_size = data_size;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   381
    download.data = data;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   382
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   383
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
1911
460baca4df83 Fixed errno usage in user library.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   384
        if (errno == EIO && abort_code) {
460baca4df83 Fixed errno usage in user library.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   385
            *abort_code = download.abort_code;
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   386
        }
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   387
        fprintf(stderr, "Failed to execute SDO download: %s\n",
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   388
            strerror(errno));
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   389
        return -1;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   390
    }
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   391
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   392
    return 0;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   393
}
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   394
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   395
/*****************************************************************************/
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   396
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   397
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
   398
        uint16_t index, uint8_t subindex, uint8_t *target,
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   399
        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
   400
{
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   401
    ec_ioctl_slave_sdo_upload_t upload;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   402
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   403
    upload.slave_position = slave_position;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   404
    upload.sdo_index = index;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   405
    upload.sdo_entry_subindex = subindex;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   406
    upload.target_size = target_size;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   407
    upload.target = target;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   408
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   409
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {
1911
460baca4df83 Fixed errno usage in user library.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   410
        if (errno == EIO && abort_code) {
460baca4df83 Fixed errno usage in user library.
Florian Pose <fp@igh-essen.com>
parents: 1804
diff changeset
   411
            *abort_code = upload.abort_code;
1510
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   412
        }
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   413
        fprintf(stderr, "Failed to execute SDO upload: %s\n",
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   414
                strerror(errno));
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   415
        return -1;
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   416
    }
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
    *result_size = upload.data_size;
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
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   422
/*****************************************************************************/
88b608a1a7f3 Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents: 1508
diff changeset
   423
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
   424
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
   425
        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
   426
        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
   427
{
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
   428
    ec_ioctl_slave_soe_write_t io;
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
   429
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
   430
    io.slave_position = slave_position;
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   431
    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
   432
    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
   433
    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
   434
    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
   435
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
   436
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io) == -1) {
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
   437
        if (errno == EIO && 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
   438
            *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
   439
        }
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
   440
        fprintf(stderr, "Failed to write IDN: %s\n", strerror(errno));
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
   441
        return -1;
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
   442
    }
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
   443
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
   444
    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
   445
}
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
   446
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
   447
/*****************************************************************************/
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
   448
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
   449
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
   450
        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
   451
        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
   452
{
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
    ec_ioctl_slave_soe_read_t io;
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
   454
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
   455
    io.slave_position = slave_position;
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1947
diff changeset
   456
    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
   457
    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
   458
    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
   459
    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
   460
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
   461
    if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io) == -1) {
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
        if (errno == EIO && 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
   463
            *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
   464
        }
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
        fprintf(stderr, "Failed to read IDN: %s\n", strerror(errno));
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
   466
        return -1;
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
   467
    }
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
   468
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
    *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
   470
    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
   471
}
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
   472
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
   473
/*****************************************************************************/
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
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
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
   476
{
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   477
    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   478
                &master->process_data_size) == -1) {
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   479
        fprintf(stderr, "Failed to activate master: %s\n",
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   480
                strerror(errno));
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   481
        return -1; // FIXME
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   482
    }
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   483
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   484
    if (master->process_data_size) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   485
        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
   486
                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
   487
        if (master->process_data == MAP_FAILED) {
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   488
            fprintf(stderr, "Failed to map process data: %s", strerror(errno));
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   489
            master->process_data = NULL;
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   490
            master->process_data_size = 0;
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   491
            return -1; // FIXME
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   492
        }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   493
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   494
        // 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
   495
        master->process_data[0] = 0x00;
1258
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   496
    }
900f1124e8f8 Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   497
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
    return 0;
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   503
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
   504
{
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   505
    if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) {
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   506
        fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   507
        return;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   508
    }
1960
6c4269dca1c2 Clear configuration on deactivation; also in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
   509
6c4269dca1c2 Clear configuration on deactivation; also in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
   510
    ec_master_clear_config(master);
6c4269dca1c2 Clear configuration on deactivation; also in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
   511
}
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   512
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   513
/*****************************************************************************/
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   514
1600
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   515
int ecrt_master_set_send_interval(ec_master_t *master,size_t send_interval_us)
e36c92cf58a9 use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1585
diff changeset
   516
{
1804
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   517
    if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   518
                &send_interval_us) == -1) {
742607c464c4 Removed tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1611
diff changeset
   519
        fprintf(stderr, "Failed to set send interval: %s\n",
1585
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   520
                strerror(errno));
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   521
        return -1; // FIXME
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   522
    }
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   523
    return 0;
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   524
}
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents: 1580
diff changeset
   525
1531
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   526
/*****************************************************************************/
6c5478400e28 Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1510
diff changeset
   527
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
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
   529
{
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   530
    if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   531
        fprintf(stderr, "Failed to send: %s\n", strerror(errno));
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   532
    }
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
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
   538
{
1247
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   539
    if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   540
        fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents: 1246
diff changeset
   541
    }
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   546
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
   547
{
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   548
    if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   549
        fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1258
diff changeset
   550
    }
1244
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
}
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
0b70040d3daa No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
/*****************************************************************************/
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   554
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   555
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
   556
{
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   557
    ec_ioctl_app_time_t data;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   558
1417
7c2d5d69134c Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents: 1413
diff changeset
   559
    data.app_time = app_time;
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   560
1434
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   561
    if (ioctl(master->fd, EC_IOCTL_APP_TIME, &data) == -1) {
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   562
        fprintf(stderr, "Failed to set application time: %s\n",
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   563
                strerror(errno));
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   564
    }
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   565
}
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   566
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   567
/*****************************************************************************/
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   568
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   569
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
   570
{
4c6fe0ae37f1 Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents: 1417
diff changeset
   571
    if (ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL) == -1) {
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   572
        fprintf(stderr, "Failed to sync reference clock: %s\n",
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   573
                strerror(errno));
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   574
    }
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   575
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   576
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   577
/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   578
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   579
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
   580
{
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   581
    if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) {
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   582
        fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno));
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   583
    }
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   584
}
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   585
44c2b7c0ae1a Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   586
/*****************************************************************************/
1535
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   587
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   588
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
   589
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   590
    if (ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL) == -1) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   591
        fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   592
                strerror(errno));
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   593
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   594
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   595
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   596
/*****************************************************************************/
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   597
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   598
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
   599
{
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   600
    uint32_t time_diff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   601
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   602
    if (ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff) == -1) {
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   603
        time_diff = 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   604
        fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   605
                strerror(errno));
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   606
    }
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   607
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   608
    return time_diff;
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   609
}
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   610
0c484ee12d89 DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents: 1531
diff changeset
   611
/*****************************************************************************/
2009
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   612
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   613
void ecrt_master_reset(ec_master_t *master)
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   614
{
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   615
    if (ioctl(master->fd, EC_IOCTL_RESET, NULL) == -1) {
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   616
        fprintf(stderr, "Failed to reset master: %s\n", strerror(errno));
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   617
    }
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   618
}
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   619
b5391b329b5d Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents: 1975
diff changeset
   620
/*****************************************************************************/