author | Florian Pose <fp@igh-essen.com> |
Tue, 28 Oct 2014 15:59:52 +0100 | |
branch | stable-1.5 |
changeset 2586 | 5b89b4e38cdc |
parent 2447 | e93efb4af231 |
child 2703 | 045624f7f4c3 |
permissions | -rw-r--r-- |
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/***************************************************************************** |
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* |
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* $Id$ |
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* |
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5 |
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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7 |
* This file is part of the IgH EtherCAT master userspace library. |
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* |
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9 |
* The IgH EtherCAT master userspace library is free software; you can |
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* redistribute it and/or modify it under the terms of the GNU Lesser General |
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* Public License as published by the Free Software Foundation; version 2.1 |
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12 |
* of the License. |
1287 | 13 |
* |
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14 |
* The IgH EtherCAT master userspace library is distributed in the hope that |
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
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16 |
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 |
* GNU Lesser General Public License for more details. |
1287 | 18 |
* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with the IgH EtherCAT master userspace library. If not, see |
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* <http://www.gnu.org/licenses/>. |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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****************************************************************************/ |
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|
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#include <unistd.h> /* close() */ |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <errno.h> |
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#include <string.h> |
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#include <sys/mman.h> |
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|
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#include "ioctl.h" |
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#include "master.h" |
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#include "domain.h" |
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#include "slave_config.h" |
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|
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/****************************************************************************/ |
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int ecrt_master_reserve(ec_master_t *master) |
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{ |
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int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to reserve master: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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return -EC_IOCTL_ERRNO(ret); |
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} |
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return 0; |
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} |
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|
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/****************************************************************************/ |
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|
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void ec_master_clear_config(ec_master_t *master) |
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{ |
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ec_domain_t *d, *next_d; |
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ec_slave_config_t *c, *next_c; |
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|
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d = master->first_domain; |
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while (d) { |
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next_d = d->next; |
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ec_domain_clear(d); |
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d = next_d; |
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} |
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master->first_domain = NULL; |
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|
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c = master->first_config; |
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while (c) { |
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next_c = c->next; |
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ec_slave_config_clear(c); |
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c = next_c; |
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} |
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master->first_config = NULL; |
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} |
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|
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/****************************************************************************/ |
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|
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void ec_master_clear(ec_master_t *master) |
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{ |
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if (master->process_data) { |
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munmap(master->process_data, master->process_data_size); |
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} |
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|
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ec_master_clear_config(master); |
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Free all userspace library objects on releasing master.
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|
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if (master->fd != -1) { |
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#if USE_RTDM |
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rt_dev_close(master->fd); |
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#else |
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close(master->fd); |
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#endif |
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96 |
} |
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Free all userspace library objects on releasing master.
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97 |
} |
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Free all userspace library objects on releasing master.
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|
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99 |
/****************************************************************************/ |
1959
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Free all userspace library objects on releasing master.
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100 |
|
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101 |
void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain) |
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{ |
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103 |
if (master->first_domain) { |
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Free all userspace library objects on releasing master.
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104 |
ec_domain_t *d = master->first_domain; |
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105 |
while (d->next) { |
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106 |
d = d->next; |
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Free all userspace library objects on releasing master.
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107 |
} |
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d->next = domain; |
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109 |
} else { |
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110 |
master->first_domain = domain; |
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111 |
} |
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Free all userspace library objects on releasing master.
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112 |
} |
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Free all userspace library objects on releasing master.
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113 |
|
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114 |
/****************************************************************************/ |
1959
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
115 |
|
1244
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
116 |
ec_domain_t *ecrt_master_create_domain(ec_master_t *master) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
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parents:
diff
changeset
|
117 |
{ |
0b70040d3daa
No kernel handles in userspace; Domain creation.
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parents:
diff
changeset
|
118 |
ec_domain_t *domain; |
0b70040d3daa
No kernel handles in userspace; Domain creation.
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parents:
diff
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|
119 |
int index; |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
120 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
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parents:
diff
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|
121 |
domain = malloc(sizeof(ec_domain_t)); |
0b70040d3daa
No kernel handles in userspace; Domain creation.
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parents:
diff
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|
122 |
if (!domain) { |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
123 |
fprintf(stderr, "Failed to allocate memory.\n"); |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
124 |
return 0; |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
125 |
} |
2241
0ba77ef52922
Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents:
2124
diff
changeset
|
126 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
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|
127 |
index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL); |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
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diff
changeset
|
128 |
if (EC_IOCTL_IS_ERROR(index)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
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diff
changeset
|
129 |
fprintf(stderr, "Failed to create domain: %s\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
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|
130 |
strerror(EC_IOCTL_ERRNO(index))); |
1244
0b70040d3daa
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parents:
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changeset
|
131 |
free(domain); |
2241
0ba77ef52922
Insert port information into slave info.
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|
132 |
return 0; |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
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parents:
diff
changeset
|
133 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
134 |
|
1959
656f114153c2
Free all userspace library objects on releasing master.
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parents:
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diff
changeset
|
135 |
domain->next = NULL; |
1244
0b70040d3daa
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parents:
diff
changeset
|
136 |
domain->index = (unsigned int) index; |
1255
38b7e05b20c1
Added some slave configuration methods.
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parents:
1247
diff
changeset
|
137 |
domain->master = master; |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
138 |
domain->process_data = NULL; |
1959
656f114153c2
Free all userspace library objects on releasing master.
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parents:
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diff
changeset
|
139 |
|
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
140 |
ec_master_add_domain(master, domain); |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
141 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
return domain; |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
145 |
/****************************************************************************/ |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
|
1959
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
147 |
void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc) |
656f114153c2
Free all userspace library objects on releasing master.
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|
148 |
{ |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
149 |
if (master->first_config) { |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
150 |
ec_slave_config_t *c = master->first_config; |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
151 |
while (c->next) { |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
152 |
c = c->next; |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
153 |
} |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
154 |
c->next = sc; |
656f114153c2
Free all userspace library objects on releasing master.
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parents:
1913
diff
changeset
|
155 |
} else { |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
156 |
master->first_config = sc; |
656f114153c2
Free all userspace library objects on releasing master.
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parents:
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diff
changeset
|
157 |
} |
656f114153c2
Free all userspace library objects on releasing master.
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parents:
1913
diff
changeset
|
158 |
} |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
159 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
160 |
/****************************************************************************/ |
1959
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
161 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
uint16_t alias, uint16_t position, uint32_t vendor_id, |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
uint32_t product_code) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
{ |
1246
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
166 |
ec_ioctl_config_t data; |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
167 |
ec_slave_config_t *sc; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
168 |
int ret; |
1246
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
169 |
|
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
170 |
sc = malloc(sizeof(ec_slave_config_t)); |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
171 |
if (!sc) { |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
172 |
fprintf(stderr, "Failed to allocate memory.\n"); |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
173 |
return 0; |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
174 |
} |
2241
0ba77ef52922
Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents:
2124
diff
changeset
|
175 |
|
1246
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
176 |
data.alias = alias; |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
177 |
data.position = position; |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
178 |
data.vendor_id = vendor_id; |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
179 |
data.product_code = product_code; |
2241
0ba77ef52922
Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents:
2124
diff
changeset
|
180 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
181 |
ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
182 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1246
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
183 |
fprintf(stderr, "Failed to create slave config: %s\n", |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
184 |
strerror(EC_IOCTL_ERRNO(ret))); |
1246
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
185 |
free(sc); |
2241
0ba77ef52922
Insert port information into slave info.
Stefan Weiser <ch1010858@ch10pc584>
parents:
2124
diff
changeset
|
186 |
return 0; |
1246
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
187 |
} |
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
188 |
|
1959
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
189 |
sc->next = NULL; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
190 |
sc->master = master; |
1246
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
191 |
sc->index = data.config_index; |
1255
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
192 |
sc->alias = alias; |
38b7e05b20c1
Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
1247
diff
changeset
|
193 |
sc->position = position; |
1959
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
194 |
sc->first_sdo_request = NULL; |
2443
2c3ccdde3919
Added interface to read/write register contents; re-worked register requests.
Florian Pose <fp@igh-essen.com>
parents:
2433
diff
changeset
|
195 |
sc->first_reg_request = NULL; |
1959
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
196 |
sc->first_voe_handler = NULL; |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
197 |
|
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
198 |
ec_master_add_slave_config(master, sc); |
656f114153c2
Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents:
1913
diff
changeset
|
199 |
|
1246
4042bda8c980
Creating slave configurations.
Florian Pose <fp@igh-essen.com>
parents:
1244
diff
changeset
|
200 |
return sc; |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
|
2447
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 |
|
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 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
|
206 |
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
|
207 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
208 |
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
|
209 |
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
|
210 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
211 |
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
|
212 |
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
|
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 |
else { |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
215 |
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
|
216 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
217 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
218 |
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
|
219 |
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
|
220 |
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
|
221 |
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
|
222 |
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
|
223 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
224 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
225 |
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
|
226 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
227 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
228 |
/****************************************************************************/ |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
229 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
230 |
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
|
231 |
{ |
1508 | 232 |
ec_ioctl_master_t data; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
233 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
234 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
235 |
ret = ioctl(master->fd, EC_IOCTL_MASTER, &data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
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parents:
2427
diff
changeset
|
236 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
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parents:
2427
diff
changeset
|
237 |
fprintf(stderr, "Failed to get master info: %s\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
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parents:
2427
diff
changeset
|
238 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
239 |
return -EC_IOCTL_ERRNO(ret); |
1508 | 240 |
} |
241 |
||
242 |
master_info->slave_count = data.slave_count; |
|
243 |
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
|
244 |
master_info->scan_busy = data.scan_busy; |
1508 | 245 |
master_info->app_time = data.app_time; |
246 |
return 0; |
|
1497
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1495
diff
changeset
|
247 |
} |
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1495
diff
changeset
|
248 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
249 |
/****************************************************************************/ |
1497
c9308eb34c0e
Separated master requesting into open and reserve for userspace library.
Florian Pose <fp@igh-essen.com>
parents:
1495
diff
changeset
|
250 |
|
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
251 |
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
|
252 |
ec_slave_info_t *slave_info) |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
253 |
{ |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
254 |
ec_ioctl_slave_t data; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
255 |
int ret, i; |
1341
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
256 |
|
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
257 |
data.position = slave_position; |
1341
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
258 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
259 |
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
|
260 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
261 |
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
|
262 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
263 |
return -EC_IOCTL_ERRNO(ret); |
1341
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
264 |
} |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
265 |
|
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
266 |
slave_info->position = data.position; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
267 |
slave_info->vendor_id = data.vendor_id; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
268 |
slave_info->product_code = data.product_code; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
269 |
slave_info->revision_number = data.revision_number; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
270 |
slave_info->serial_number = data.serial_number; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
271 |
slave_info->alias = data.alias; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
272 |
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
|
273 |
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
|
274 |
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
|
275 |
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
|
276 |
slave_info->ports[i].link.loop_closed = |
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
277 |
data.ports[i].link.loop_closed; |
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
278 |
slave_info->ports[i].link.signal_detected = |
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
279 |
data.ports[i].link.signal_detected; |
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
280 |
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
|
281 |
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
|
282 |
slave_info->ports[i].delay_to_next_dc = |
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
283 |
data.ports[i].delay_to_next_dc; |
2242
d23f69156cfd
Fixed copying port information.
Stefan Weiser <ch1010858@ch10pc584>
parents:
2241
diff
changeset
|
284 |
} |
1341
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
285 |
slave_info->al_state = data.al_state; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
286 |
slave_info->error_flag = data.error_flag; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
287 |
slave_info->sync_count = data.sync_count; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
288 |
slave_info->sdo_count = data.sdo_count; |
1593
fb8337e664fb
Fixed string length constant bug.
Florian Pose <fp@igh-essen.com>
parents:
1585
diff
changeset
|
289 |
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
|
290 |
return 0; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
291 |
} |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
292 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
293 |
/****************************************************************************/ |
1341
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
294 |
|
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
295 |
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
|
296 |
uint8_t sync_index, ec_sync_info_t *sync) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
297 |
{ |
1804 | 298 |
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
|
299 |
int ret; |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
300 |
|
2380
cf9db49bcce8
Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents:
2242
diff
changeset
|
301 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) { |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
302 |
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
|
303 |
} |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
304 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
305 |
memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t)); |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
306 |
data.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
307 |
data.sync_index = sync_index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
308 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
309 |
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
|
310 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
311 |
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
|
312 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
313 |
return -EC_IOCTL_ERRNO(ret); |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
314 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
315 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
316 |
sync->index = sync_index; |
1804 | 317 |
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
|
318 |
EC_DIR_OUTPUT : EC_DIR_INPUT; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
319 |
sync->n_pdos = data.pdo_count; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
320 |
sync->pdos = NULL; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
321 |
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
|
322 |
EC_WD_ENABLE : EC_WD_DISABLE; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
323 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
324 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
325 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
326 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
327 |
/****************************************************************************/ |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
328 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
329 |
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
|
330 |
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
|
331 |
{ |
1804 | 332 |
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
|
333 |
int ret; |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
334 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
335 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
336 |
return -ENOENT; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
337 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
338 |
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
|
339 |
data.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
340 |
data.sync_index = sync_index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
341 |
data.pdo_pos = pos; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
342 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
343 |
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
|
344 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
345 |
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
|
346 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
347 |
return -EC_IOCTL_ERRNO(ret); |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
348 |
} |
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 |
pdo->index = data.index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
351 |
pdo->n_entries = data.entry_count; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
352 |
pdo->entries = NULL; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
353 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
354 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
355 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
356 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
357 |
/****************************************************************************/ |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
358 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
359 |
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
|
360 |
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
|
361 |
ec_pdo_entry_info_t *entry) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
362 |
{ |
1804 | 363 |
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
|
364 |
int ret; |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
365 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
366 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
367 |
return -ENOENT; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
368 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
369 |
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
|
370 |
data.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
371 |
data.sync_index = sync_index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
372 |
data.pdo_pos = pdo_pos; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
373 |
data.entry_pos = entry_pos; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
374 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
375 |
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
|
376 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
377 |
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
|
378 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
379 |
return -EC_IOCTL_ERRNO(ret); |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
380 |
} |
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 |
entry->index = data.index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
383 |
entry->subindex = data.subindex; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
384 |
entry->bit_length = data.bit_length; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
385 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
386 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
387 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
388 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
389 |
/****************************************************************************/ |
1510
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 |
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
|
392 |
uint16_t index, uint8_t subindex, uint8_t *data, |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
393 |
size_t data_size, uint32_t *abort_code) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
394 |
{ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
395 |
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
|
396 |
int ret; |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
397 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
398 |
download.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
399 |
download.sdo_index = index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
400 |
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
|
401 |
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
|
402 |
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
|
403 |
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
|
404 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
405 |
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
|
406 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
407 |
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
|
408 |
*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
|
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 |
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
|
411 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
412 |
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
|
413 |
} |
c4afc5fede19
Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents:
2062
diff
changeset
|
414 |
|
c4afc5fede19
Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents:
2062
diff
changeset
|
415 |
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
|
416 |
} |
c4afc5fede19
Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents:
2062
diff
changeset
|
417 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
418 |
/****************************************************************************/ |
2124
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 |
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
|
421 |
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
|
422 |
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
|
423 |
{ |
c4afc5fede19
Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents:
2062
diff
changeset
|
424 |
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
|
425 |
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
|
426 |
|
c4afc5fede19
Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also
Florian Pose <fp@igh-essen.com>
parents:
2062
diff
changeset
|
427 |
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
|
428 |
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
|
429 |
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
|
430 |
download.complete_access = 1; |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
431 |
download.data_size = data_size; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
432 |
download.data = data; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
433 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
434 |
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
|
435 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
436 |
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
|
437 |
*abort_code = download.abort_code; |
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 |
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
|
440 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
441 |
return -EC_IOCTL_ERRNO(ret); |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
442 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
443 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
444 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
445 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
446 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
447 |
/****************************************************************************/ |
1510
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 |
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
|
450 |
uint16_t index, uint8_t subindex, uint8_t *target, |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
451 |
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
|
452 |
{ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
453 |
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
|
454 |
int ret; |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
455 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
456 |
upload.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
457 |
upload.sdo_index = index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
458 |
upload.sdo_entry_subindex = subindex; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
459 |
upload.target_size = target_size; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
460 |
upload.target = target; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
461 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
462 |
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
|
463 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
464 |
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
|
465 |
*abort_code = upload.abort_code; |
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 |
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
|
468 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
469 |
return -EC_IOCTL_ERRNO(ret); |
1510
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 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
472 |
*result_size = upload.data_size; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
473 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
474 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
475 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
476 |
/****************************************************************************/ |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
477 |
|
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
|
478 |
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
|
479 |
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
|
480 |
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
|
481 |
{ |
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
|
482 |
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
|
483 |
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
|
484 |
|
cbef34ba142b
Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents:
1911
diff
changeset
|
485 |
io.slave_position = slave_position; |
1952
7d9fb723fc4b
Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents:
1947
diff
changeset
|
486 |
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
|
487 |
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
|
488 |
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
|
489 |
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
|
490 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
491 |
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
|
492 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
493 |
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
|
494 |
*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
|
495 |
} |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
496 |
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
|
497 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
498 |
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
|
499 |
} |
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
|
500 |
|
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 |
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
|
502 |
} |
cbef34ba142b
Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE
Florian Pose <fp@igh-essen.com>
parents:
1911
diff
changeset
|
503 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
504 |
/****************************************************************************/ |
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 |
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
|
507 |
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
|
508 |
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
|
509 |
{ |
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
|
510 |
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
|
511 |
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
|
512 |
|
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.slave_position = slave_position; |
1952
7d9fb723fc4b
Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents:
1947
diff
changeset
|
514 |
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
|
515 |
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
|
516 |
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
|
517 |
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
|
518 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
519 |
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
|
520 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
521 |
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
|
522 |
*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
|
523 |
} |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
524 |
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
|
525 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
526 |
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
|
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 |
|
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
|
529 |
*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
|
530 |
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
|
531 |
} |
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
|
532 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
533 |
/****************************************************************************/ |
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
|
534 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
535 |
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
|
536 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
537 |
ec_ioctl_master_activate_t io; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
538 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
539 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
540 |
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
|
541 |
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
|
542 |
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
|
543 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
544 |
return -EC_IOCTL_ERRNO(ret); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
545 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
546 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
547 |
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
|
548 |
|
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
549 |
if (master->process_data_size) { |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
550 |
#ifdef USE_RTDM |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
551 |
/* 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
|
552 |
* provided in the ioctl data. |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
553 |
*/ |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
554 |
master->process_data = io.process_data; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
555 |
#else |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
556 |
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
|
557 |
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
|
558 |
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
|
559 |
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
|
560 |
strerror(errno)); |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
561 |
master->process_data = NULL; |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
562 |
master->process_data_size = 0; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
563 |
return -errno; |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
564 |
} |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
565 |
#endif |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
566 |
|
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
567 |
// 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
|
568 |
master->process_data[0] = 0x00; |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
569 |
} |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
570 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
571 |
return 0; |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
572 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
573 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
574 |
/****************************************************************************/ |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
575 |
|
1531
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
576 |
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
|
577 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
578 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
579 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
580 |
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
|
581 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
582 |
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
|
583 |
strerror(EC_IOCTL_ERRNO(ret))); |
1531
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
584 |
return; |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
585 |
} |
1960
6c4269dca1c2
Clear configuration on deactivation; also in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1959
diff
changeset
|
586 |
|
6c4269dca1c2
Clear configuration on deactivation; also in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1959
diff
changeset
|
587 |
ec_master_clear_config(master); |
6c4269dca1c2
Clear configuration on deactivation; also in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1959
diff
changeset
|
588 |
} |
1585
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
589 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
590 |
/****************************************************************************/ |
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
591 |
|
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
592 |
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
|
593 |
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
|
594 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
595 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
596 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
597 |
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
|
598 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1804 | 599 |
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
|
600 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
601 |
return -EC_IOCTL_ERRNO(ret); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
602 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
603 |
|
1585
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
604 |
return 0; |
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
605 |
} |
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
606 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
607 |
/****************************************************************************/ |
1531
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
608 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
609 |
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
|
610 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
611 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
612 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
613 |
ret = ioctl(master->fd, EC_IOCTL_SEND, NULL); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
614 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
615 |
fprintf(stderr, "Failed to send: %s\n", |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
616 |
strerror(EC_IOCTL_ERRNO(ret))); |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
617 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
618 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
619 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
620 |
/****************************************************************************/ |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
621 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
622 |
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
|
623 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
624 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
625 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
626 |
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
|
627 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
628 |
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
|
629 |
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
|
630 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
631 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
632 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
633 |
/****************************************************************************/ |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
634 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
635 |
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
|
636 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
637 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
638 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
639 |
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
|
640 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
641 |
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
|
642 |
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
|
643 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
644 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
645 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
646 |
/****************************************************************************/ |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
647 |
|
2380
cf9db49bcce8
Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents:
2242
diff
changeset
|
648 |
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
|
649 |
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
|
650 |
{ |
cf9db49bcce8
Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents:
2242
diff
changeset
|
651 |
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
|
652 |
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
|
653 |
|
cf9db49bcce8
Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents:
2242
diff
changeset
|
654 |
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
|
655 |
io.state = state; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
656 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
657 |
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
|
658 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
659 |
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
|
660 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
661 |
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
|
662 |
} |
2427
17ada1c77acc
Fixed some compiler warnings.
Florian Pose <fp@igh-essen.com>
parents:
2426
diff
changeset
|
663 |
|
17ada1c77acc
Fixed some compiler warnings.
Florian Pose <fp@igh-essen.com>
parents:
2426
diff
changeset
|
664 |
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
|
665 |
} |
cf9db49bcce8
Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents:
2242
diff
changeset
|
666 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
667 |
/****************************************************************************/ |
2380
cf9db49bcce8
Added ecrt_master_link_state() to retrieve information about a redundant link.
Florian Pose <fp@igh-essen.com>
parents:
2242
diff
changeset
|
668 |
|
1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
669 |
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
|
670 |
{ |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
671 |
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
|
672 |
int ret; |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
673 |
|
1417
7c2d5d69134c
Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents:
1413
diff
changeset
|
674 |
data.app_time = app_time; |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
675 |
|
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
676 |
ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &data); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
677 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
678 |
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
|
679 |
strerror(EC_IOCTL_ERRNO(ret))); |
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 |
} |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
682 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
683 |
/****************************************************************************/ |
1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
684 |
|
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
685 |
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
|
686 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
687 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
688 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
689 |
ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
690 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
691 |
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
|
692 |
strerror(EC_IOCTL_ERRNO(ret))); |
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 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
695 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
696 |
/****************************************************************************/ |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
697 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
698 |
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
|
699 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
700 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
701 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
702 |
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
|
703 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
704 |
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
|
705 |
strerror(EC_IOCTL_ERRNO(ret))); |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
706 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
707 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
708 |
|
2447
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
709 |
/*****************************************************************************/ |
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 |
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
|
712 |
{ |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
713 |
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
|
714 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
715 |
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
|
716 |
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
|
717 |
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
|
718 |
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
|
719 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
720 |
|
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
721 |
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
|
722 |
} |
e93efb4af231
Added interface to select the reference clock and to sync to it.
Florian Pose <fp@igh-essen.com>
parents:
2443
diff
changeset
|
723 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
724 |
/****************************************************************************/ |
1535
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
725 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
726 |
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
|
727 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
728 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
729 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
730 |
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
|
731 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1535
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
732 |
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
|
733 |
strerror(EC_IOCTL_ERRNO(ret))); |
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 |
} |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
736 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
737 |
/****************************************************************************/ |
1535
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
738 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
739 |
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
|
740 |
{ |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
741 |
uint32_t time_diff; |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
742 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
743 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
744 |
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
|
745 |
if (EC_IOCTL_IS_ERROR(ret)) { |
1535
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
746 |
time_diff = 0xffffffff; |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
747 |
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
|
748 |
strerror(EC_IOCTL_ERRNO(ret))); |
1535
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
749 |
} |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
750 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
751 |
return time_diff; |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
752 |
} |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
753 |
|
2426
58572b4208ba
Minor: Fixed max line length.
Florian Pose <fp@igh-essen.com>
parents:
2419
diff
changeset
|
754 |
/****************************************************************************/ |
2009
b5391b329b5d
Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents:
1975
diff
changeset
|
755 |
|
b5391b329b5d
Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents:
1975
diff
changeset
|
756 |
void ecrt_master_reset(ec_master_t *master) |
b5391b329b5d
Added ecrt_master_reset() method.
Florian Pose <fp@igh-essen.com>
parents:
1975
diff
changeset
|
757 |
{ |
2433
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
758 |
int ret; |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
759 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
760 |
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
|
761 |
if (EC_IOCTL_IS_ERROR(ret)) { |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
762 |
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
|
763 |
strerror(EC_IOCTL_ERRNO(ret))); |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
764 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
765 |
} |
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
766 |
|
3bdd7a747fae
Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents:
2427
diff
changeset
|
767 |
/****************************************************************************/ |