etherlabmaster: lib/master.c@3bdd7a747fae (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;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	195	sc->first_voe_handler = NULL;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	196
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	197	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	198
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	199	return sc;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	201
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	202	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	203
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	204	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	205	{
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	206	ec_ioctl_master_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	207	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	208
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	209	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	210	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	211	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	212	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	213	return -EC_IOCTL_ERRNO(ret);
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	214	}
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	master_info->slave_count = data.slave_count;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	217	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	218	master_info->scan_busy = data.scan_busy;
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	219	master_info->app_time = data.app_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	220	return 0;
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	221	}
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	222
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	223	/****************************************************************************/
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	224
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	225	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	226	ec_slave_info_t *slave_info)
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	227	{
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	228	ec_ioctl_slave_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	229	int ret, i;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	230
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	231	data.position = slave_position;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	232
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	233	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	234	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	235	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	236	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	237	return -EC_IOCTL_ERRNO(ret);
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	238	}
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	slave_info->position = data.position;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	241	slave_info->vendor_id = data.vendor_id;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	242	slave_info->product_code = data.product_code;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	243	slave_info->revision_number = data.revision_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	244	slave_info->serial_number = data.serial_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	245	slave_info->alias = data.alias;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	246	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	247	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	248	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	249	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	250	slave_info->ports[i].link.loop_closed =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	251	data.ports[i].link.loop_closed;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	252	slave_info->ports[i].link.signal_detected =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	253	data.ports[i].link.signal_detected;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	254	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	255	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	256	slave_info->ports[i].delay_to_next_dc =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	257	data.ports[i].delay_to_next_dc;
2242 d23f69156cfd Fixed copying port information. Stefan Weiser <ch1010858@ch10pc584> parents: 2241 diff changeset	258	}
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	259	slave_info->al_state = data.al_state;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	260	slave_info->error_flag = data.error_flag;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	261	slave_info->sync_count = data.sync_count;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	262	slave_info->sdo_count = data.sdo_count;
1593 fb8337e664fb Fixed string length constant bug. Florian Pose <fp@igh-essen.com> parents: 1585 diff changeset	263	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	264	return 0;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	265	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	266
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	267	/****************************************************************************/
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	268
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	269	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	270	uint8_t sync_index, ec_sync_info_t *sync)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	271	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	272	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	273	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	274
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	275	if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	276	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	277	}
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	278
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	279	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	280	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	281	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	282
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	283	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	284	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	285	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	286	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	287	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	288	}
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	sync->index = sync_index;
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	291	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	292	EC_DIR_OUTPUT : EC_DIR_INPUT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	293	sync->n_pdos = data.pdo_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	294	sync->pdos = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	295	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	296	EC_WD_ENABLE : EC_WD_DISABLE;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	297
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	298	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	299	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	300
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	301	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	302
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	303	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	304	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	305	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	306	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	307	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	308
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	309	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	310	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	311
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	312	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	313	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	314	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	315	data.pdo_pos = pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	316
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	317	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	318	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	319	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	320	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	321	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	322	}
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	pdo->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	325	pdo->n_entries = data.entry_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	326	pdo->entries = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	327
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	328	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	329	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	330
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	331	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	332
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	333	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	334	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	335	ec_pdo_entry_info_t *entry)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	336	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	337	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	338	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	339
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	340	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	341	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	342
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	343	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	344	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	345	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	346	data.pdo_pos = pdo_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	347	data.entry_pos = entry_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	348
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	349	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	350	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	351	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	352	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	353	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	354	}
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	entry->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	357	entry->subindex = data.subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	358	entry->bit_length = data.bit_length;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	359
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	360	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	361	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	362
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	363	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	364
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	365	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	366	uint16_t index, uint8_t subindex, uint8_t *data,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	367	size_t data_size, uint32_t *abort_code)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	368	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	369	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	370	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	371
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	372	download.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	373	download.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	374	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	375	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	376	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	377	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	378
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	379	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	380	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	381	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	382	*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	383	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	384	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	385	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	386	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	387	}
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	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	390	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	391
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	392	/****************************************************************************/
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	393
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	394	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	395	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	396	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	397	{
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	398	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	399	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	400
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	401	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	402	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	403	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	404	download.complete_access = 1;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	405	download.data_size = data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	406	download.data = data;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	407
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	408	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	409	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	410	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	411	*abort_code = download.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 download: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	414	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	415	return -EC_IOCTL_ERRNO(ret);
1510 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	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	419	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	420
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	421	/****************************************************************************/
1510 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	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	424	uint16_t index, uint8_t subindex, uint8_t *target,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	425	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	426	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	427	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	428	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	429
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	430	upload.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	431	upload.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	432	upload.sdo_entry_subindex = subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	433	upload.target_size = target_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	434	upload.target = target;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	435
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	436	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	437	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	438	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	439	*abort_code = upload.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	440	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	441	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	442	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	443	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	444	}
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	*result_size = upload.data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	447	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	448	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	449
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	450	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	451
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	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	453	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	454	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	455	{
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	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	457	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	458
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.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	460	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	461	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	462	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	463	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	464
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	465	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	466	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	467	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	468	*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	469	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	470	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	471	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	472	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	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
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	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	476	}
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
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	478	/****************************************************************************/
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	479
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	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	481	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	482	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	483	{
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	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	485	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	486
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	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	488	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	489	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	490	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	491	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	492
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	493	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	494	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	495	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	496	*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	497	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	498	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	499	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	500	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	501	}
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	*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	504	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	505	}
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
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	507	/****************************************************************************/
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	508
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	509	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	510	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	511	ec_ioctl_master_activate_t io;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	512	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	513
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	514	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	515	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	516	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	517	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	518	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	519	}
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	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	522
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	523	if (master->process_data_size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	524	#ifdef USE_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	525	/* 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	526	* provided in the ioctl data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	527	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	528	master->process_data = io.process_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	529	#else
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	530	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	531	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	532	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	533	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	534	strerror(errno));
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	535	master->process_data = NULL;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	536	master->process_data_size = 0;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	537	return -errno;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	538	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	539	#endif
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	540
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	541	// 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	542	master->process_data[0] = 0x00;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	543	}
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	544
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	545	return 0;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	546	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	547
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	548	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	549
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	550	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	551	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	552	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	553
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	554	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	555	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	556	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	557	strerror(EC_IOCTL_ERRNO(ret)));
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	558	return;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	559	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	560
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	561	ec_master_clear_config(master);
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	562	}
1585 1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	563
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	564	/****************************************************************************/
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	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	567	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	568	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	569	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	570
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	571	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	572	if (EC_IOCTL_IS_ERROR(ret)) {
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	573	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	574	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	575	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	576	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	577
1585 1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	578	return 0;
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	579	}
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	580
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	581	/****************************************************************************/
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	582
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	583	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	584	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	585	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	586
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	587	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	588	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	589	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	590	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	591	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	592	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	593
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	594	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	595
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	596	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	597	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	598	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	599
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	600	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	601	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	602	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	603	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	604	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	605	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	606
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	607	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	608
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	609	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	610	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	611	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	612
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	613	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	614	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	615	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	616	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	617	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	619
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	620	/****************************************************************************/
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	621
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	622	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	623	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	624	{
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	625	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	626	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	627
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	628	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	629	io.state = state;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	630
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	631	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	632	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	633	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	634	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	635	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	636	}
2427 17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	637
17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	638	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	639	}
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	640
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	641	/****************************************************************************/
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	642
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	643	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	644	{
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	645	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	646	int ret;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	647
1417 7c2d5d69134c Replaced timeval by 64-bit EtherCAT time. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	648	data.app_time = app_time;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	649
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	650	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	651	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	652	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	653	strerror(EC_IOCTL_ERRNO(ret)));
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	654	}
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
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	657	/****************************************************************************/
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	658
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	659	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	660	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	661	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	662
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	663	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	664	if (EC_IOCTL_IS_ERROR(ret)) {
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	665	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	666	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	667	}
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
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	670	/****************************************************************************/
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	671
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	672	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	673	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	674	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	675
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	676	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	677	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	678	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	679	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	680	}
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
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	683	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	684
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	685	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	686	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	687	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	688
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	689	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	690	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	691	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	692	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	693	}
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
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	696	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	697
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	698	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	699	{
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	700	uint32_t time_diff;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	701	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	702
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	703	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	704	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	705	time_diff = 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	706	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	707	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	708	}
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	return time_diff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	711	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	712
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	713	/****************************************************************************/
2009 b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	714
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	715	void ecrt_master_reset(ec_master_t *master)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	716	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	717	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	718
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	719	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	720	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	721	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	722	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	723	}
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	/****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 20 Sep 2012 15:28:25 +0200
branch	stable-1.5
changeset 2433	3bdd7a747fae
parent 2427	17ada1c77acc
child 2443	2c3ccdde3919
permissions	-rw-r--r--