etherlabmaster: lib/slave_config.c@5db725cc40f9 (annotated)

1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	2	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	3	* $Id$
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	4	*
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	5	* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	6	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	7	* This file is part of the IgH EtherCAT master userspace library.
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	9	* The IgH EtherCAT master userspace library is free software; you can
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	10	* redistribute it and/or modify it under the terms of the GNU Lesser General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	11	* Public License as published by the Free Software Foundation; version 2.1
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	12	* of the License.
1287 cc7b679c74e9 Improved LGPL headers. Florian Pose <fp@igh-essen.com> parents: 1266 diff changeset	13	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	14	* The IgH EtherCAT master userspace library is distributed in the hope that
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	15	* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	16	* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	17	* GNU Lesser General Public License for more details.
1287 cc7b679c74e9 Improved LGPL headers. Florian Pose <fp@igh-essen.com> parents: 1266 diff changeset	18	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	19	* You should have received a copy of the GNU Lesser General Public License
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	20	* along with the IgH EtherCAT master userspace library. If not, see
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	21	* <http://www.gnu.org/licenses/>.
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	22	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	23	* ---
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	24	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	25	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	26	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	27	* industrial property and similar rights of Beckhoff Automation GmbH.
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	30
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <stdlib.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <stdio.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <string.h>
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	34	#include <errno.h> /* ENOENT */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	35
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	36	#include "ioctl.h"
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "slave_config.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "domain.h"
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	39	#include "sdo_request.h"
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	40	#include "reg_request.h"
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	41	#include "voe_handler.h"
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	43
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	46	void ec_slave_config_clear(ec_slave_config_t *sc)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	47	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	48	ec_sdo_request_t r, next_r;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	49	ec_reg_request_t e, next_e;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	50	ec_voe_handler_t v, next_v;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	51
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	52	r = sc->first_sdo_request;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	53	while (r) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	54	next_r = r->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	55	ec_sdo_request_clear(r);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	56	r = next_r;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	57	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	58
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	59	e = sc->first_reg_request;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	60	while (e) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	61	next_e = e->next;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	62	ec_reg_request_clear(e);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	63	e = next_e;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	64	}
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	65
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	66	v = sc->first_voe_handler;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	67	while (v) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	68	next_v = v->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	69	ec_voe_handler_clear(v);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	70	v = next_v;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	71	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	72	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	73
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	74	/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	75
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	77	ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	ec_ioctl_config_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	80	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	if (sync_index >= EC_MAX_SYNC_MANAGERS)
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	83	return -ENOENT;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	84
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	memset(&data, 0x00, sizeof(ec_ioctl_config_t));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	data.syncs[sync_index].dir = dir;
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	88	data.syncs[sync_index].watchdog_mode = watchdog_mode;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	89	data.syncs[sync_index].config_this = 1;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	90
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	91	ret = ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	92	if (EC_IOCTL_IS_ERROR(ret)) {
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	fprintf(stderr, "Failed to config sync manager: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	94	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	95	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	}
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	97
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	100
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	102
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	103	void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	104	uint16_t divider, uint16_t intervals)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	105	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	106	ec_ioctl_config_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	107	int ret;
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	108
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	109	memset(&data, 0x00, sizeof(ec_ioctl_config_t));
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	110	data.config_index = sc->index;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	111	data.watchdog_divider = divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	112	data.watchdog_intervals = intervals;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	113
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	114	ret = ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	115	if (EC_IOCTL_IS_ERROR(ret)) {
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	116	fprintf(stderr, "Failed to config watchdog: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	117	strerror(EC_IOCTL_ERRNO(ret)));
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	118	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	119	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	120
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	121	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	122
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	uint8_t sync_index, uint16_t pdo_index)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	ec_ioctl_config_pdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	127	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	128
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	data.sync_index = sync_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	data.index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	133	ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	134	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	135	fprintf(stderr, "Failed to add PDO: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	136	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	137	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	}
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	139
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	142
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	uint8_t sync_index)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	ec_ioctl_config_pdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	149	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	150
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	data.sync_index = sync_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	153
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	154	ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	155	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	156	fprintf(stderr, "Failed to clear PDOs: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	157	strerror(EC_IOCTL_ERRNO(ret)));
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	160
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	162
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	uint8_t entry_bit_length)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	ec_ioctl_add_pdo_entry_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	168	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	169
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	data.pdo_index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	data.entry_index = entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	data.entry_subindex = entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	data.entry_bit_length = entry_bit_length;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	175
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	176	ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	177	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	178	fprintf(stderr, "Failed to add PDO entry: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	179	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	180	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	}
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	182
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	185
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	187
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	uint16_t pdo_index)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	ec_ioctl_config_pdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	192	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	193
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	data.index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	196
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	197	ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	198	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	199	fprintf(stderr, "Failed to clear PDO entries: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	200	strerror(EC_IOCTL_ERRNO(ret)));
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	203
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	205
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	int ecrt_slave_config_pdos(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	unsigned int n_syncs, const ec_sync_info_t syncs[])
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	209	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	unsigned int i, j, k;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	const ec_sync_info_t *sync_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	const ec_pdo_info_t *pdo_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	const ec_pdo_entry_info_t *entry_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	214
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	if (!syncs)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	217
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	for (i = 0; i < n_syncs; i++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	sync_info = &syncs[i];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	220
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	if (sync_info->index == (uint8_t) EC_END)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	break;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	223
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	fprintf(stderr, "Invalid sync manager index %u!\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	sync_info->index);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	227	return -ENOENT;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	229
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	230	ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	231	sync_info->dir, sync_info->watchdog_mode);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	232	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	233	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	234
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	if (sync_info->n_pdos && sync_info->pdos) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	237
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	for (j = 0; j < sync_info->n_pdos; j++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	pdo_info = &sync_info->pdos[j];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	241	ret = ecrt_slave_config_pdo_assign_add(
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	242	sc, sync_info->index, pdo_info->index);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	243	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	244	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	245
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	if (pdo_info->n_entries && pdo_info->entries) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	248
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	for (k = 0; k < pdo_info->n_entries; k++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	entry_info = &pdo_info->entries[k];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	251
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	252	ret = ecrt_slave_config_pdo_mapping_add(sc,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	253	pdo_info->index, entry_info->index,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	254	entry_info->subindex,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	255	entry_info->bit_length);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	256	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	257	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	263
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	266
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	268
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	int ecrt_slave_config_reg_pdo_entry(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	uint8_t subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	ec_domain_t *domain,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	unsigned int *bit_position
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	ec_ioctl_reg_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	int ret;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	279
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	data.entry_index = index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	data.entry_subindex = subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	data.domain_index = domain->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	284
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	286	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	287	fprintf(stderr, "Failed to register PDO entry: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	288	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	289	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	291
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	if (bit_position) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	*bit_position = data.bit_position;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	} else {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	if (data.bit_position) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	296	fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	"in config %u:%u.\n", index, subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	sc->alias, sc->position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	299	return -EFAULT;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	302
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	return ret;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	305
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	307
1448 d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	308	void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
2449 5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc() Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	309	uint32_t sync0_cycle_time, int32_t sync0_shift_time,
5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc() Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	310	uint32_t sync1_cycle_time, int32_t sync1_shift_time)
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	311	{
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	312	ec_ioctl_config_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	313	int ret;
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	314
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	315	data.config_index = sc->index;
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	316	data.dc_assign_activate = assign_activate;
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	317	data.dc_sync[0].cycle_time = sync0_cycle_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	318	data.dc_sync[0].shift_time = sync0_shift_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	319	data.dc_sync[1].cycle_time = sync1_cycle_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	320	data.dc_sync[1].shift_time = sync1_shift_time;
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	321
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	322	ret = ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	323	if (EC_IOCTL_IS_ERROR(ret)) {
2449 5db725cc40f9 Changed the datatypes of the shift times in ecrt_slave_config_dc() Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	324	fprintf(stderr, "Failed to set DC parameters: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	325	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	326	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	327	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	328
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	329	/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	330
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	uint8_t subindex, const uint8_t *sdo_data, size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	ec_ioctl_sc_sdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	335	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	336
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	data.index = index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	data.subindex = subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	data.data = sdo_data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	data.size = size;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	342	data.complete_access = 0;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	343
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	344	ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	345	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	346	fprintf(stderr, "Failed to configure SDO: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	347	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	348	return -EC_IOCTL_ERRNO(ret);
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	349	}
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	350
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	351	return 0;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	352	}
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	353
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	354	/*****************************************************************************/
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	355
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	356	int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	357	const uint8_t *sdo_data, size_t size)
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	358	{
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	359	ec_ioctl_sc_sdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	360	int ret;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	361
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	362	data.config_index = sc->index;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	363	data.index = index;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	364	data.subindex = 0;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	365	data.data = sdo_data;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	366	data.size = size;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	367	data.complete_access = 1;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	368
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	369	ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	370	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	371	fprintf(stderr, "Failed to configure SDO: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	372	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	373	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	375
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	377	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	378
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	380
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	381	int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	uint8_t subindex, uint8_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	383	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	uint8_t data[1];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	385
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	EC_WRITE_U8(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	387	return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	389
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	391
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	uint8_t subindex, uint16_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	394	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	uint8_t data[2];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	396
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	EC_WRITE_U16(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	398	return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	400
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	402
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	uint8_t subindex, uint32_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	uint8_t data[4];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	407
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	EC_WRITE_U32(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	409	return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	411
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	412	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	413
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	414	int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	415	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	416	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	417	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	418
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	419	io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	420	io.size = elements;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	421
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	422	ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_SIZE, &io);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	423	if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	424	fprintf(stderr, "Failed to set emergency ring size: %s\n",
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	425	strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	426	return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	427	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	428
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	429	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	430	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	431
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	432	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	433
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	434	int ecrt_slave_config_emerg_pop(ec_slave_config_t sc, uint8_t target)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	435	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	436	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	437	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	438
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	439	io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	440	io.target = target;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	441
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	442	ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_POP, &io);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	443	if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	444	fprintf(stderr, "Failed to get emergency message: %s\n",
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	445	strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	446	return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	447	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	448
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	449	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	450	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	451
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	452	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	453
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	454	int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	455	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	456	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	457	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	458
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	459	io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	460
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	461	ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_CLEAR, &io);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	462	if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	463	fprintf(stderr, "Failed to clear emergency ring: %s\n",
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	464	strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	465	return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	466	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	467
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	468	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	469	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	470
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	471	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	472
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	473	int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	474	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	475	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	476	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	477
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	478	io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	479
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	480	ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_OVERRUNS, &io);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	481	if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	482	fprintf(stderr, "Failed to get emergency overruns: %s\n",
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	483	strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	484	return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	485	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	486
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	487	return io.overruns;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	488	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	489
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	490	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	491
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	492	void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	493	ec_sdo_request_t *req)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	494	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	495	if (sc->first_sdo_request) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	496	ec_sdo_request_t *r = sc->first_sdo_request;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	497	while (r->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	498	r = r->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	499	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	500	r->next = req;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	501	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	502	sc->first_sdo_request = req;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	503	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	504	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	505
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	506	/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	507
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	508	ec_sdo_request_t ecrt_slave_config_create_sdo_request(ec_slave_config_t sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	509	uint16_t index, uint8_t subindex, size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	510	{
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	511	ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	512	ec_sdo_request_t *req;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	513	int ret;
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	514
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	515	req = malloc(sizeof(ec_sdo_request_t));
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	516	if (!req) {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	517	fprintf(stderr, "Failed to allocate memory.\n");
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	518	return 0;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	519	}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	520
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	521	if (size) {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	522	req->data = malloc(size);
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	523	if (!req->data) {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	524	fprintf(stderr, "Failed to allocate %u bytes of SDO data"
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	525	" memory.\n", size);
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	526	free(req);
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	527	return 0;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	528	}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	529	} else {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	530	req->data = NULL;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	531	}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	532
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	533	data.config_index = sc->index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	534	data.sdo_index = index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	535	data.sdo_subindex = subindex;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	536	data.size = size;
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	537
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	538	ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	539	if (EC_IOCTL_IS_ERROR(ret)) {
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	540	fprintf(stderr, "Failed to create SDO request: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	541	strerror(EC_IOCTL_ERRNO(ret)));
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	542	ec_sdo_request_clear(req);
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	543	free(req);
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	544	return NULL;
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	545	}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	546
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	547	req->next = NULL;
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	548	req->config = sc;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	549	req->index = data.request_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	550	req->sdo_index = data.sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	551	req->sdo_subindex = data.sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	552	req->data_size = size;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	553	req->mem_size = size;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	554
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	555	ec_slave_config_add_sdo_request(sc, req);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	556
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	557	return req;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	558	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	559
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	560	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	561
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	562	void ec_slave_config_add_reg_request(ec_slave_config_t *sc,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	563	ec_reg_request_t *reg)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	564	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	565	if (sc->first_reg_request) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	566	ec_reg_request_t *r = sc->first_reg_request;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	567	while (r->next) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	568	r = r->next;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	569	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	570	r->next = reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	571	} else {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	572	sc->first_reg_request = reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	573	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	574	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	575
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	576	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	577
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	578	ec_reg_request_t ecrt_slave_config_create_reg_request(ec_slave_config_t sc,
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	579	size_t size)
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	580	{
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	581	ec_ioctl_reg_request_t io;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	582	ec_reg_request_t *reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	583	int ret;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	584
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	585	reg = malloc(sizeof(ec_reg_request_t));
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	586	if (!reg) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	587	fprintf(stderr, "Failed to allocate memory.\n");
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	588	return NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	589	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	590
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	591	if (size) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	592	reg->data = malloc(size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	593	if (!reg->data) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	594	fprintf(stderr, "Failed to allocate %u bytes of register data"
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	595	" memory.\n", size);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	596	free(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	597	return 0;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	598	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	599	} else {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	600	reg->data = NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	601	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	602
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	603	io.config_index = sc->index;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	604	io.mem_size = size;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	605
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	606	ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_REQUEST, &io);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	607	if (EC_IOCTL_IS_ERROR(ret)) {
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	608	fprintf(stderr, "Failed to create register request: %s\n",
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	609	strerror(EC_IOCTL_ERRNO(ret)));
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	610	ec_reg_request_clear(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	611	free(reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	612	return NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	613	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	614
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	615	reg->next = NULL;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	616	reg->config = sc;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	617	reg->index = io.request_index;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	618	reg->mem_size = size;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	619
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	620	ec_slave_config_add_reg_request(sc, reg);
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	621
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	622	return reg;
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	623	}
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	624
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	625	/*****************************************************************************/
2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2438 diff changeset	626
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	627	void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	628	ec_voe_handler_t *voe)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	629	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	630	if (sc->first_voe_handler) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	631	ec_voe_handler_t *v = sc->first_voe_handler;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	632	while (v->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	633	v = v->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	634	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	635	v->next = voe;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	636	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	637	sc->first_voe_handler = voe;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	638	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	639	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	640
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	641	/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	642
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	643	ec_voe_handler_t ecrt_slave_config_create_voe_handler(ec_slave_config_t sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	645	{
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	646	ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	647	ec_voe_handler_t *voe;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	648	int ret;
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	649
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	650	voe = malloc(sizeof(ec_voe_handler_t));
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	651	if (!voe) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	652	fprintf(stderr, "Failed to allocate memory.\n");
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	653	return 0;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	654	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	655
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	656	if (size) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	657	voe->data = malloc(size);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	658	if (!voe->data) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	659	fprintf(stderr, "Failed to allocate %u bytes of VoE data"
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	660	" memory.\n", size);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	661	free(voe);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	662	return 0;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	663	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	664	} else {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	665	voe->data = NULL;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	666	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	667
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	668	data.config_index = sc->index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	669	data.size = size;
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	670
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	671	ret = ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	672	if (EC_IOCTL_IS_ERROR(ret)) {
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	673	fprintf(stderr, "Failed to create VoE handler: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	674	strerror(EC_IOCTL_ERRNO(ret)));
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	675	ec_voe_handler_clear(voe);
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	676	free(voe);
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	677	return NULL;
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	678	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	679
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	680	voe->next = NULL;
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	681	voe->config = sc;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	682	voe->index = data.voe_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	683	voe->data_size = size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	684	voe->mem_size = size;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	685
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	686	ec_slave_config_add_voe_handler(sc, voe);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	687
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	688	return voe;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	689	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	690
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	691	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	692
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	693	void ecrt_slave_config_state(const ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	694	ec_slave_config_state_t *state)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	695	{
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	696	ec_ioctl_sc_state_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	697	int ret;
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	698
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	699	data.config_index = sc->index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	700	data.state = state;
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	701
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	702	ret = ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	703	if (EC_IOCTL_IS_ERROR(ret)) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	704	fprintf(stderr, "Failed to get slave configuration state: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	705	strerror(EC_IOCTL_ERRNO(ret)));
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	706	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	707	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	708
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	709	/*****************************************************************************/
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	710
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	711	int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	712	uint16_t idn, ec_al_state_t al_state, const uint8_t *data, size_t size)
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	713	{
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	714	ec_ioctl_sc_idn_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	715	int ret;
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	716
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	717	io.config_index = sc->index;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	718	io.drive_no = drive_no;
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	719	io.idn = idn;
1945 f9204699e799 Incremented ioctl interface version; Minor changes. Florian Pose <fp@igh-essen.com> parents: 1944 diff changeset	720	io.al_state = al_state;
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	721	io.data = data;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	722	io.size = size;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	723
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	724	ret = ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	725	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	726	fprintf(stderr, "Failed to configure IDN: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	727	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	728	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	729	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	730
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	731	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	732	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	733
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	734	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 29 Nov 2012 10:15:40 +0100
branch	stable-1.5
changeset 2449	5db725cc40f9
parent 2443	2c3ccdde3919
child 2480	8b1e26cc88ac
permissions	-rw-r--r--