etherlabmaster: lib/master.c@43f8e40a183d (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) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	91	close(master->fd);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	92	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	93	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	94
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	95	/****************************************************************************/
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	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	98	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	99	if (master->first_domain) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	100	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	101	while (d->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	102	d = d->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	103	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	104	d->next = domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	105	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	106	master->first_domain = domain;
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	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	109
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	110	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	111
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	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	113	{
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	ec_domain_t *domain;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	int index;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	116
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	domain = malloc(sizeof(ec_domain_t));
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	if (!domain) {
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	fprintf(stderr, "Failed to allocate memory.\n");
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	return 0;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	}
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	122
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	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	124	if (EC_IOCTL_IS_ERROR(index)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	125	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	126	strerror(EC_IOCTL_ERRNO(index)));
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	free(domain);
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	128	return 0;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	130
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	131	domain->next = NULL;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	domain->index = (unsigned int) index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	133	domain->master = master;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	134	domain->process_data = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	135
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	136	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	137
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	return domain;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	140
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	141	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	142
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	143	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	144	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	145	if (master->first_config) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	146	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	147	while (c->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	148	c = c->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	149	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	150	c->next = sc;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	151	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	152	master->first_config = sc;
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	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	155
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	156	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	157
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	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	159	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	160	uint32_t product_code)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	{
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	162	ec_ioctl_config_t data;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	163	ec_slave_config_t *sc;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	164	int ret;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	165
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	166	sc = malloc(sizeof(ec_slave_config_t));
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	167	if (!sc) {
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	168	fprintf(stderr, "Failed to allocate memory.\n");
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	169	return 0;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	170	}
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	171
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	172	data.alias = alias;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	173	data.position = position;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	174	data.vendor_id = vendor_id;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	175	data.product_code = product_code;
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	176
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	177	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	178	if (EC_IOCTL_IS_ERROR(ret)) {
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	179	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	180	strerror(EC_IOCTL_ERRNO(ret)));
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	181	free(sc);
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	182	return 0;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	183	}
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	184
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	185	sc->next = NULL;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	186	sc->master = master;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	187	sc->index = data.config_index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	188	sc->alias = alias;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	189	sc->position = position;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	190	sc->first_sdo_request = NULL;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	191	sc->first_reg_request = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	192	sc->first_voe_handler = NULL;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	193
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	194	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	195
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	196	return sc;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	198
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	199	/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	200
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	201	int ecrt_master_select_reference_clock(ec_master_t *master,
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	202	ec_slave_config_t *sc)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	203	{
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	204	uint32_t config_index;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	205	int ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	206
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	207	if (sc) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	208	config_index = sc->index;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	209	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	210	else {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	211	config_index = 0xFFFFFFFF;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	212	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	213
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	214	ret = ioctl(master->fd, EC_IOCTL_SELECT_REF_CLOCK, config_index);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	215	if (EC_IOCTL_IS_ERROR(ret)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	216	fprintf(stderr, "Failed to select reference clock: %s\n",
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	217	strerror(EC_IOCTL_ERRNO(ret)));
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	218	return -EC_IOCTL_ERRNO(ret);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	219	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	220
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	221	return 0;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	222	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	223
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	224	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	225
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	226	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	227	{
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	228	ec_ioctl_master_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	229	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	230
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	231	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	232	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	233	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	234	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	235	return -EC_IOCTL_ERRNO(ret);
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	236	}
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	237
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	238	master_info->slave_count = data.slave_count;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	239	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	240	master_info->scan_busy = data.scan_busy;
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	241	master_info->app_time = data.app_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	242	return 0;
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	243	}
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	244
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	245	/****************************************************************************/
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	246
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	247	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	248	ec_slave_info_t *slave_info)
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	249	{
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	250	ec_ioctl_slave_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	251	int ret, i;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	252
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	253	data.position = slave_position;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	254
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	255	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	256	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	257	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	258	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	259	return -EC_IOCTL_ERRNO(ret);
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	260	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	261
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	262	slave_info->position = data.position;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	263	slave_info->vendor_id = data.vendor_id;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	264	slave_info->product_code = data.product_code;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	265	slave_info->revision_number = data.revision_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	266	slave_info->serial_number = data.serial_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	267	slave_info->alias = data.alias;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	268	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	269	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	270	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	271	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	272	slave_info->ports[i].link.loop_closed =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	273	data.ports[i].link.loop_closed;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	274	slave_info->ports[i].link.signal_detected =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	275	data.ports[i].link.signal_detected;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	276	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	277	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	278	slave_info->ports[i].delay_to_next_dc =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	279	data.ports[i].delay_to_next_dc;
2242 d23f69156cfd Fixed copying port information. Stefan Weiser <ch1010858@ch10pc584> parents: 2241 diff changeset	280	}
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	281	slave_info->al_state = data.al_state;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	282	slave_info->error_flag = data.error_flag;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	283	slave_info->sync_count = data.sync_count;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	284	slave_info->sdo_count = data.sdo_count;
1593 fb8337e664fb Fixed string length constant bug. Florian Pose <fp@igh-essen.com> parents: 1585 diff changeset	285	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	286	return 0;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	287	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	288
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	289	/****************************************************************************/
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	290
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	291	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	292	uint8_t sync_index, ec_sync_info_t *sync)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	293	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	294	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	295	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	296
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	297	if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	298	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	299	}
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	300
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	301	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	302	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	303	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	304
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	305	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	306	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	307	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	308	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	309	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	310	}
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	sync->index = sync_index;
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	313	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	314	EC_DIR_OUTPUT : EC_DIR_INPUT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	315	sync->n_pdos = data.pdo_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	316	sync->pdos = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	317	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	318	EC_WD_ENABLE : EC_WD_DISABLE;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	319
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	320	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	321	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	322
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	323	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	324
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	325	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	326	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	327	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	328	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	329	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	330
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	331	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	332	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	333
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	334	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	335	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	336	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	337	data.pdo_pos = pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	338
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	339	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	340	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	341	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	342	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	343	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	344	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	345
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	346	pdo->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	347	pdo->n_entries = data.entry_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	348	pdo->entries = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	349
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	350	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	351	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	352
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	353	/****************************************************************************/
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	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	356	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	357	ec_pdo_entry_info_t *entry)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	358	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	359	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	360	int ret;
1510 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	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	363	return -ENOENT;
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	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	366	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	367	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	368	data.pdo_pos = pdo_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	369	data.entry_pos = entry_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	370
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	371	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	372	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	373	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	374	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	375	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	376	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	377
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	378	entry->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	379	entry->subindex = data.subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	380	entry->bit_length = data.bit_length;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	381
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	382	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	383	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	384
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	385	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	386
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	387	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	388	uint16_t index, uint8_t subindex, uint8_t *data,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	389	size_t data_size, uint32_t *abort_code)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	390	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	391	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	392	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	393
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	394	download.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	395	download.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	396	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	397	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	398	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	399	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	400
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	401	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	402	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	403	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	404	*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	405	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	406	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	407	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	408	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	409	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	410
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	411	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	412	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	413
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	414	/****************************************************************************/
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	415
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	416	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	417	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	418	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	419	{
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	420	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	421	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	422
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	423	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	424	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	425	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	426	download.complete_access = 1;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	427	download.data_size = data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	428	download.data = data;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	429
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	430	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	431	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	432	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	433	*abort_code = download.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	434	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	435	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	436	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	437	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	438	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	439
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	440	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	441	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	442
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	443	/****************************************************************************/
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	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	446	uint16_t index, uint8_t subindex, uint8_t *target,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	447	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	448	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	449	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	450	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	451
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	452	upload.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	453	upload.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	454	upload.sdo_entry_subindex = subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	455	upload.target_size = target_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	456	upload.target = target;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	457
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	458	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	459	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	460	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	461	*abort_code = upload.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	462	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	463	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	464	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	465	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	466	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	467
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	468	*result_size = upload.data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	469	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	470	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	471
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	472	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	473
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	474	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	475	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	476	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	477	{
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	478	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	479	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	480
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	481	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	482	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	483	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	484	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	485	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	486
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	487	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	488	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	489	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	490	*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	491	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	492	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	493	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	494	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	495	}
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
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	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	498	}
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	499
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	500	/****************************************************************************/
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	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	503	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	504	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	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	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	507	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	508
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	509	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	510	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	511	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	512	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	513	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	514
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	515	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	516	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	517	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	518	*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	519	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	520	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	521	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	522	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	523	}
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	524
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	525	*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	526	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	527	}
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	528
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	529	/****************************************************************************/
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	530
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	531	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	532	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	533	ec_ioctl_master_activate_t io;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	534	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	535
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	536	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	537	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	538	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	539	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	540	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	541	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	542
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	543	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	544
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	545	if (master->process_data_size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	546	#ifdef USE_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	547	/* 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	548	* provided in the ioctl data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	549	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	550	master->process_data = io.process_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	551	#else
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	552	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	553	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	554	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	555	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	556	strerror(errno));
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	557	master->process_data = NULL;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	558	master->process_data_size = 0;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	559	return -errno;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	560	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	561	#endif
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	562
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	563	// 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	564	master->process_data[0] = 0x00;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	565	}
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	566
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	567	return 0;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	568	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	569
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	570	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	571
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	572	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	573	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	574	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	575
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	576	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	577	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	578	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	579	strerror(EC_IOCTL_ERRNO(ret)));
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	580	return;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	581	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	582
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	583	ec_master_clear_config(master);
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	584	}
1585 1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	585
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	586	/****************************************************************************/
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	587
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	588	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	589	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	590	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	591	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	592
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	593	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	594	if (EC_IOCTL_IS_ERROR(ret)) {
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	595	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	596	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	597	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	598	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	599
1585 1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	600	return 0;
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	601	}
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	602
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	603	/****************************************************************************/
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	604
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	605	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	606	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	607	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	608
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	609	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	610	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	611	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	612	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	613	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	614	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	615
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	616	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	617
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	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	619	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	620	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	621
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	622	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	623	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	624	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	625	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	626	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	627	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	628
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	629	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	630
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	631	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	632	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	633	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	634
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	635	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	636	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	637	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	638	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	639	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	640	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	641
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	642	/****************************************************************************/
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	643
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	644	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	645	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	646	{
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	647	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	648	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	649
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	650	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	651	io.state = state;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	652
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	653	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	654	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	655	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	656	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	657	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	658	}
2427 17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	659
17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	660	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	661	}
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	662
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	663	/****************************************************************************/
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	664
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	665	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	666	{
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	667	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	668	int ret;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	669
1417 7c2d5d69134c Replaced timeval by 64-bit EtherCAT time. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	670	data.app_time = app_time;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	671
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	672	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	673	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	674	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	675	strerror(EC_IOCTL_ERRNO(ret)));
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	676	}
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	677	}
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	678
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	679	/****************************************************************************/
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	680
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	681	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	682	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	683	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	684
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	685	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	686	if (EC_IOCTL_IS_ERROR(ret)) {
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	687	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	688	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	689	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	690	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	691
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	692	/****************************************************************************/
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	693
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	694	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	695	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	696	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	697
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	698	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	699	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	700	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	701	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	702	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	703	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	704
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	705	/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	706
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	707	int ecrt_master_reference_clock_time(ec_master_t master, uint32_t time)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	708	{
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	709	int ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	710
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	711	ret = ioctl(master->fd, EC_IOCTL_REF_CLOCK_TIME, time);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	712	if (EC_IOCTL_IS_ERROR(ret)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	713	fprintf(stderr, "Failed to get reference clock time: %s\n",
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	714	strerror(EC_IOCTL_ERRNO(ret)));
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	715	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	716
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	717	return ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	718	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	719
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	720	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	721
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	722	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	723	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	724	int ret;
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	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	727	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	728	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	729	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	730	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	731	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	732
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	733	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	734
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	735	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	736	{
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	737	uint32_t time_diff;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	738	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	739
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	740	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	741	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	742	time_diff = 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	743	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	744	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	745	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	746
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	747	return time_diff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	748	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	749
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	750	/****************************************************************************/
2009 b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	751
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	752	void ecrt_master_reset(ec_master_t *master)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	753	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	754	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	755
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	756	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	757	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	758	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	759	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	760	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	761	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	762
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	763	/****************************************************************************/

author	Edouard Tisserant <edouard.tisserant@gmail.com>
	Tue, 11 Sep 2018 08:43:17 +0200
branch	stable-1.5
changeset 2706	43f8e40a183d
parent 2703	045624f7f4c3
child 2712	5d21d80777a6
permissions	-rw-r--r--