etherlabmaster: lib/master.c@7690a5df7539 (annotated)

2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	1	/*****************************************************************************
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	2	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	3	* $Id$
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	4	*
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	5	* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	6	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	7	* This file is part of the IgH EtherCAT master userspace library.
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	9	* The IgH EtherCAT master userspace library is free software; you can
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	10	* redistribute it and/or modify it under the terms of the GNU Lesser General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	11	* Public License as published by the Free Software Foundation; version 2.1
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	12	* of the License.
1287 cc7b679c74e9 Improved LGPL headers. Florian Pose <fp@igh-essen.com> parents: 1266 diff changeset	13	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	14	* The IgH EtherCAT master userspace library is distributed in the hope that
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	15	* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	16	* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	17	* GNU Lesser General Public License for more details.
1287 cc7b679c74e9 Improved LGPL headers. Florian Pose <fp@igh-essen.com> parents: 1266 diff changeset	18	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	19	* You should have received a copy of the GNU Lesser General Public License
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	20	* along with the IgH EtherCAT master userspace library. If not, see
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	21	* <http://www.gnu.org/licenses/>.
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	22	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	23	* ---
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	24	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	25	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	26	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	27	* industrial property and similar rights of Beckhoff Automation GmbH.
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	29	****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	30
2427 17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	31	#include <unistd.h> /* close() */
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <stdlib.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <stdio.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include <errno.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include <string.h>
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	36	#include <sys/mman.h>
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	38	#include "ioctl.h"
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "master.h"
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "domain.h"
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	41	#include "slave_config.h"
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	43	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	45	int ecrt_master_reserve(ec_master_t *master)
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	46	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	47	int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	48	if (EC_IOCTL_IS_ERROR(ret)) {
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	49	fprintf(stderr, "Failed to reserve master: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	50	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	51	return -EC_IOCTL_ERRNO(ret);
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	52	}
1975 8e173dddd183 Improved compiling on 2.6.34 (thanks to Malcolm Lewis). Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	53	return 0;
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	54	}
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	55
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	56	/****************************************************************************/
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	57
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	58	void ec_master_clear_config(ec_master_t *master)
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	59	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	60	ec_domain_t d, next_d;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	61	ec_slave_config_t c, next_c;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	62
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	63	d = master->first_domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	64	while (d) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	65	next_d = d->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	66	ec_domain_clear(d);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	67	d = next_d;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	68	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	69	master->first_domain = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	70
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	71	c = master->first_config;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	72	while (c) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	73	next_c = c->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	74	ec_slave_config_clear(c);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	75	c = next_c;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	76	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	77	master->first_config = NULL;
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	78	}
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	79
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	80	/****************************************************************************/
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	81
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	82	void ec_master_clear(ec_master_t *master)
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	83	{
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	84	if (master->process_data) {
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	85	munmap(master->process_data, master->process_data_size);
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	86	}
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	87
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	88	ec_master_clear_config(master);
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	89
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	90	if (master->fd != -1) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	91	#if USE_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	92	rt_dev_close(master->fd);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	93	#else
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	94	close(master->fd);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	95	#endif
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	96	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	97	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	98
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	99	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	100
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	101	void ec_master_add_domain(ec_master_t master, ec_domain_t domain)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	102	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	103	if (master->first_domain) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	104	ec_domain_t *d = master->first_domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	105	while (d->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	106	d = d->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	107	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	108	d->next = domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	109	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	110	master->first_domain = domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	111	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	112	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	113
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	114	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	115
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	ec_domain_t ecrt_master_create_domain(ec_master_t master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	{
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	ec_domain_t *domain;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	int index;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	domain = malloc(sizeof(ec_domain_t));
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	if (!domain) {
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	fprintf(stderr, "Failed to allocate memory.\n");
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	return 0;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	}
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	126
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	128	if (EC_IOCTL_IS_ERROR(index)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	129	fprintf(stderr, "Failed to create domain: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	130	strerror(EC_IOCTL_ERRNO(index)));
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	free(domain);
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	132	return 0;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	134
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	135	domain->next = NULL;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	domain->index = (unsigned int) index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	137	domain->master = master;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	138	domain->process_data = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	139
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	140	ec_master_add_domain(master, domain);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	141
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	return domain;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	145	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	146
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	147	void ec_master_add_slave_config(ec_master_t master, ec_slave_config_t sc)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	148	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	149	if (master->first_config) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	150	ec_slave_config_t *c = master->first_config;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	151	while (c->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	152	c = c->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	153	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	154	c->next = sc;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	155	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	156	master->first_config = sc;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	157	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	158	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	159
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	160	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	161
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	ec_slave_config_t ecrt_master_slave_config(ec_master_t master,
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	uint16_t alias, uint16_t position, uint32_t vendor_id,
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	uint32_t product_code)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	{
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	166	ec_ioctl_config_t data;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	167	ec_slave_config_t *sc;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	168	int ret;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	169
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	170	sc = malloc(sizeof(ec_slave_config_t));
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	171	if (!sc) {
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	172	fprintf(stderr, "Failed to allocate memory.\n");
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	173	return 0;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	174	}
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	175
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	176	data.alias = alias;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	177	data.position = position;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	178	data.vendor_id = vendor_id;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	179	data.product_code = product_code;
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	180
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	181	ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	182	if (EC_IOCTL_IS_ERROR(ret)) {
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	183	fprintf(stderr, "Failed to create slave config: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	184	strerror(EC_IOCTL_ERRNO(ret)));
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	185	free(sc);
2241 0ba77ef52922 Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 2124 diff changeset	186	return 0;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	187	}
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	188
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	189	sc->next = NULL;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	190	sc->master = master;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	191	sc->index = data.config_index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	192	sc->alias = alias;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	193	sc->position = position;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	194	sc->first_sdo_request = NULL;
2443 2c3ccdde3919 Added interface to read/write register contents; re-worked register requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	195	sc->first_reg_request = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	196	sc->first_voe_handler = NULL;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	197
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	198	ec_master_add_slave_config(master, sc);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	199
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	200	return sc;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	202
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	203	/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	204
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	205	int ecrt_master_select_reference_clock(ec_master_t *master,
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	206	ec_slave_config_t *sc)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	207	{
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	208	uint32_t config_index;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	209	int ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	210
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	211	if (sc) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	212	config_index = sc->index;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	213	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	214	else {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	215	config_index = 0xFFFFFFFF;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	216	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	217
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	218	ret = ioctl(master->fd, EC_IOCTL_SELECT_REF_CLOCK, config_index);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	219	if (EC_IOCTL_IS_ERROR(ret)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	220	fprintf(stderr, "Failed to select reference clock: %s\n",
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	221	strerror(EC_IOCTL_ERRNO(ret)));
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	222	return -EC_IOCTL_ERRNO(ret);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	223	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	224
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	225	return 0;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	226	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	227
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	228	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	229
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	230	int ecrt_master(ec_master_t master, ec_master_info_t master_info)
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	231	{
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	232	ec_ioctl_master_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	233	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	234
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	235	ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	236	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	237	fprintf(stderr, "Failed to get master info: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	238	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	239	return -EC_IOCTL_ERRNO(ret);
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	240	}
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	241
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	242	master_info->slave_count = data.slave_count;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	243	master_info->link_up = data.devices[0].link_state;
1579 326d47aa986c applied komax patch to version r1822 Martin Troxler <martin.troxler@komaxgroup.com> parents: 1510 diff changeset	244	master_info->scan_busy = data.scan_busy;
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	245	master_info->app_time = data.app_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	246	return 0;
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	247	}
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	248
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	249	/****************************************************************************/
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	250
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	251	int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	252	ec_slave_info_t *slave_info)
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	253	{
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	254	ec_ioctl_slave_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	255	int ret, i;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	256
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	257	data.position = slave_position;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	258
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	259	ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	260	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	261	fprintf(stderr, "Failed to get slave info: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	262	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	263	return -EC_IOCTL_ERRNO(ret);
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	264	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	265
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	266	slave_info->position = data.position;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	267	slave_info->vendor_id = data.vendor_id;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	268	slave_info->product_code = data.product_code;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	269	slave_info->revision_number = data.revision_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	270	slave_info->serial_number = data.serial_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	271	slave_info->alias = data.alias;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	272	slave_info->current_on_ebus = data.current_on_ebus;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	273	for (i = 0; i < EC_MAX_PORTS; i++) {
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	274	slave_info->ports[i].desc = data.ports[i].desc;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	275	slave_info->ports[i].link.link_up = data.ports[i].link.link_up;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	276	slave_info->ports[i].link.loop_closed =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	277	data.ports[i].link.loop_closed;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	278	slave_info->ports[i].link.signal_detected =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	279	data.ports[i].link.signal_detected;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	280	slave_info->ports[i].receive_time = data.ports[i].receive_time;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	281	slave_info->ports[i].next_slave = data.ports[i].next_slave;
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	282	slave_info->ports[i].delay_to_next_dc =
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	283	data.ports[i].delay_to_next_dc;
2242 d23f69156cfd Fixed copying port information. Stefan Weiser <ch1010858@ch10pc584> parents: 2241 diff changeset	284	}
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	285	slave_info->al_state = data.al_state;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	286	slave_info->error_flag = data.error_flag;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	287	slave_info->sync_count = data.sync_count;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	288	slave_info->sdo_count = data.sdo_count;
1593 fb8337e664fb Fixed string length constant bug. Florian Pose <fp@igh-essen.com> parents: 1585 diff changeset	289	strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	290	return 0;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	291	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	292
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	293	/****************************************************************************/
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	294
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	295	int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	296	uint8_t sync_index, ec_sync_info_t *sync)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	297	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	298	ec_ioctl_slave_sync_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	299	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	300
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	301	if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	302	return -ENOENT;
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	303	}
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	304
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	305	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	306	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	307	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	308
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	309	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	310	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	311	fprintf(stderr, "Failed to get sync manager information: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	312	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	313	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	314	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	315
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	316	sync->index = sync_index;
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	317	sync->dir = EC_READ_BIT(&data.control_register, 2) ?
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	318	EC_DIR_OUTPUT : EC_DIR_INPUT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	319	sync->n_pdos = data.pdo_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	320	sync->pdos = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	321	sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	322	EC_WD_ENABLE : EC_WD_DISABLE;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	323
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	324	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	325	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	326
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	327	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	328
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	329	int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	330	uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	331	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	332	ec_ioctl_slave_sync_pdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	333	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	334
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	335	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	336	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	337
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	338	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	339	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	340	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	341	data.pdo_pos = pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	342
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	343	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	344	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	345	fprintf(stderr, "Failed to get pdo information: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	346	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	347	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	348	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	349
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	350	pdo->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	351	pdo->n_entries = data.entry_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	352	pdo->entries = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	353
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	354	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	355	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	356
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	357	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	358
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	359	int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	360	uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	361	ec_pdo_entry_info_t *entry)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	362	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	363	ec_ioctl_slave_sync_pdo_entry_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	364	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	365
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	366	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	367	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	368
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	369	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	370	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	371	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	372	data.pdo_pos = pdo_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	373	data.entry_pos = entry_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	374
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	375	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	376	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	377	fprintf(stderr, "Failed to get pdo entry information: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	378	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	379	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	380	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	381
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	382	entry->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	383	entry->subindex = data.subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	384	entry->bit_length = data.bit_length;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	385
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	386	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	387	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	388
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	389	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	390
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	391	int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	392	uint16_t index, uint8_t subindex, uint8_t *data,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	393	size_t data_size, uint32_t *abort_code)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	394	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	395	ec_ioctl_slave_sdo_download_t download;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	396	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	397
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	398	download.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	399	download.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	400	download.sdo_entry_subindex = subindex;
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	401	download.complete_access = 0;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	402	download.data_size = data_size;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	403	download.data = data;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	404
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	405	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	406	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	407	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	408	*abort_code = download.abort_code;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	409	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	410	fprintf(stderr, "Failed to execute SDO download: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	411	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	412	return -EC_IOCTL_ERRNO(ret);
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	413	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	414
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	415	return 0;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	416	}
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	417
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	418	/****************************************************************************/
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	419
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	420	int ecrt_master_sdo_download_complete(ec_master_t *master,
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	421	uint16_t slave_position, uint16_t index, uint8_t *data,
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	422	size_t data_size, uint32_t *abort_code)
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	423	{
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	424	ec_ioctl_slave_sdo_download_t download;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	425	int ret;
2124 c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	426
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	427	download.slave_position = slave_position;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	428	download.sdo_index = index;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	429	download.sdo_entry_subindex = 0;
c4afc5fede19 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2062 diff changeset	430	download.complete_access = 1;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	431	download.data_size = data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	432	download.data = data;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	433
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	434	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	435	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	436	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
1911 460baca4df83 Fixed errno usage in user library. Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	437	*abort_code = download.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	438	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	439	fprintf(stderr, "Failed to execute SDO download: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	440	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	441	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	442	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	443
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	444	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	445	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	446
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	447	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	448
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	449	int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	450	uint16_t index, uint8_t subindex, uint8_t *target,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	451	size_t target_size, size_t result_size, uint32_t abort_code)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	452	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	453	ec_ioctl_slave_sdo_upload_t upload;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	454	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	455
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	456	upload.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	457	upload.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	458	upload.sdo_entry_subindex = subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	459	upload.target_size = target_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	460	upload.target = target;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	461
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	462	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	463	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	464	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
1911 460baca4df83 Fixed errno usage in user library. Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	465	*abort_code = upload.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	466	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	467	fprintf(stderr, "Failed to execute SDO upload: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	468	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	469	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	470	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	471
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	472	*result_size = upload.data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	473	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	474	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	475
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	476	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	477
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	478	int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	479	uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	480	uint16_t *error_code)
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	481	{
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	482	ec_ioctl_slave_soe_write_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	483	int ret;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	484
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	485	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	486	io.drive_no = drive_no;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	487	io.idn = idn;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	488	io.data_size = data_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	489	io.data = data;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	490
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	491	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	492	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	493	if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	494	*error_code = io.error_code;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	495	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	496	fprintf(stderr, "Failed to write IDN: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	497	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	498	return -EC_IOCTL_ERRNO(ret);
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	499	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	500
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	501	return 0;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	502	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	503
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	504	/****************************************************************************/
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	505
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	506	int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	507	uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
1947 024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	508	size_t result_size, uint16_t error_code)
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	509	{
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	510	ec_ioctl_slave_soe_read_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	511	int ret;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	512
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	513	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	514	io.drive_no = drive_no;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	515	io.idn = idn;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	516	io.mem_size = target_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	517	io.data = target;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	518
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	519	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	520	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	521	if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	522	*error_code = io.error_code;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	523	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	524	fprintf(stderr, "Failed to read IDN: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	525	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	526	return -EC_IOCTL_ERRNO(ret);
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	527	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	528
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	529	*result_size = io.data_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	530	return 0;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	531	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	532
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	533	/****************************************************************************/
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	534
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	535	int ecrt_master_activate(ec_master_t *master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	536	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	537	ec_ioctl_master_activate_t io;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	538	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	539
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	540	ret = ioctl(master->fd, EC_IOCTL_ACTIVATE, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	541	if (EC_IOCTL_IS_ERROR(ret)) {
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	542	fprintf(stderr, "Failed to activate master: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	543	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	544	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	545	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	546
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	547	master->process_data_size = io.process_data_size;
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	548
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	549	if (master->process_data_size) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	550	#ifdef USE_RTDM
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	551	/* memory-mapping was already done in kernel. The user-space addess is
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	552	* provided in the ioctl data.
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	553	*/
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	554	master->process_data = io.process_data;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	555	#else
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	556	master->process_data = mmap(0, master->process_data_size,
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	557	PROT_READ \| PROT_WRITE, MAP_SHARED, master->fd, 0);
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	558	if (master->process_data == MAP_FAILED) {
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	559	fprintf(stderr, "Failed to map process data: %s\n",
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	560	strerror(errno));
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	561	master->process_data = NULL;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	562	master->process_data_size = 0;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	563	return -errno;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	564	}
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	565	#endif
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	566
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	567	// Access the mapped region to cause the initial page fault
2062 9cc8f64726bb Removed "Pd: 0" output that does the initial pagefault. Write to the Florian Pose <fp@igh-essen.com> parents: 2009 diff changeset	568	master->process_data[0] = 0x00;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	569	}
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	570
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	571	return 0;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	572	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	573
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	574	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	575
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	576	void ecrt_master_deactivate(ec_master_t *master)
6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	577	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	578	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	579
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	580	ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	581	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	582	fprintf(stderr, "Failed to deactivate master: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	583	strerror(EC_IOCTL_ERRNO(ret)));
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	584	return;
6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	585	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	586
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	587	ec_master_clear_config(master);
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	588	}
1585 1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	589
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	590	/****************************************************************************/
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	591
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	592	int ecrt_master_set_send_interval(ec_master_t *master,
58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	593	size_t send_interval_us)
1600 e36c92cf58a9 use given send interval to limit SDO/FOE traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1585 diff changeset	594	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	595	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	596
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	597	ret = ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, &send_interval_us);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	598	if (EC_IOCTL_IS_ERROR(ret)) {
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	599	fprintf(stderr, "Failed to set send interval: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	600	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	601	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	602	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	603
1585 1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	604	return 0;
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	605	}
1f640e321ee4 ecrt_master_set_max_cycle_size: limit SDO traffic Martin Troxler <martin.troxler@komaxgroup.com> parents: 1580 diff changeset	606
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	607	/****************************************************************************/
1531 6c5478400e28 Implemented ecrt_master_deactivate() in userspace. Florian Pose <fp@igh-essen.com> parents: 1510 diff changeset	608
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	609	void ecrt_master_send(ec_master_t *master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	610	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	611	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	612
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	613	ret = ioctl(master->fd, EC_IOCTL_SEND, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	614	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	615	fprintf(stderr, "Failed to send: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	616	strerror(EC_IOCTL_ERRNO(ret)));
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	617	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	619
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	620	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	621
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	622	void ecrt_master_receive(ec_master_t *master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	623	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	624	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	625
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	626	ret = ioctl(master->fd, EC_IOCTL_RECEIVE, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	627	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	628	fprintf(stderr, "Failed to receive: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	629	strerror(EC_IOCTL_ERRNO(ret)));
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	630	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	631	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	632
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	633	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	634
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	635	void ecrt_master_state(const ec_master_t master, ec_master_state_t state)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	637	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	638
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	639	ret = ioctl(master->fd, EC_IOCTL_MASTER_STATE, state);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	640	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	641	fprintf(stderr, "Failed to get master state: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	642	strerror(EC_IOCTL_ERRNO(ret)));
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	643	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	645
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	646	/****************************************************************************/
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	647
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	648	int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx,
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	649	ec_master_link_state_t *state)
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	650	{
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	651	ec_ioctl_link_state_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	652	int ret;
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	653
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	654	io.dev_idx = dev_idx;
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	655	io.state = state;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	656
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	657	ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	658	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	659	fprintf(stderr, "Failed to get link state: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	660	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	661	return -EC_IOCTL_ERRNO(ret);
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	662	}
2427 17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	663
17ada1c77acc Fixed some compiler warnings. Florian Pose <fp@igh-essen.com> parents: 2426 diff changeset	664	return 0;
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	665	}
cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	666
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	667	/****************************************************************************/
2380 cf9db49bcce8 Added ecrt_master_link_state() to retrieve information about a redundant link. Florian Pose <fp@igh-essen.com> parents: 2242 diff changeset	668
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	669	void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	670	{
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	671	ec_ioctl_app_time_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	672	int ret;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	673
1417 7c2d5d69134c Replaced timeval by 64-bit EtherCAT time. Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	674	data.app_time = app_time;
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	675
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	676	ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	677	if (EC_IOCTL_IS_ERROR(ret)) {
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	678	fprintf(stderr, "Failed to set application time: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	679	strerror(EC_IOCTL_ERRNO(ret)));
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	680	}
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	681	}
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	682
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	683	/****************************************************************************/
1434 4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	684
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	685	void ecrt_master_sync_reference_clock(ec_master_t *master)
4c6fe0ae37f1 Separated application time from synchronizing reference clock. Florian Pose <fp@igh-essen.com> parents: 1417 diff changeset	686	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	687	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	688
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	689	ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	690	if (EC_IOCTL_IS_ERROR(ret)) {
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	691	fprintf(stderr, "Failed to sync reference clock: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	692	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	693	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	694	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	695
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	696	/****************************************************************************/
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	697
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	698	void ecrt_master_sync_slave_clocks(ec_master_t *master)
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	699	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	700	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	701
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	702	ret = ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	703	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	704	fprintf(stderr, "Failed to sync slave clocks: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	705	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	706	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	707	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	708
2447 e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	709	/*****************************************************************************/
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	710
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	711	int ecrt_master_reference_clock_time(ec_master_t master, uint32_t time)
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	712	{
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	713	int ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	714
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	715	ret = ioctl(master->fd, EC_IOCTL_REF_CLOCK_TIME, time);
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	716	if (EC_IOCTL_IS_ERROR(ret)) {
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	717	fprintf(stderr, "Failed to get reference clock time: %s\n",
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	718	strerror(EC_IOCTL_ERRNO(ret)));
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	719	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	720
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	721	return ret;
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	722	}
e93efb4af231 Added interface to select the reference clock and to sync to it. Florian Pose <fp@igh-essen.com> parents: 2443 diff changeset	723
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	724	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	725
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	726	void ecrt_master_sync_monitor_queue(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	727	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	728	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	729
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	730	ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	731	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	732	fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	733	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	734	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	735	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	736
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	737	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	738
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	739	uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	740	{
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	741	uint32_t time_diff;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	742	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	743
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	744	ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	745	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	746	time_diff = 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	747	fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	748	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	749	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	750
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	751	return time_diff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	752	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	753
2426 58572b4208ba Minor: Fixed max line length. Florian Pose <fp@igh-essen.com> parents: 2419 diff changeset	754	/****************************************************************************/
2009 b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	755
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	756	void ecrt_master_reset(ec_master_t *master)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	757	{
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	758	int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	759
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	760	ret = ioctl(master->fd, EC_IOCTL_RESET, NULL);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	761	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	762	fprintf(stderr, "Failed to reset master: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	763	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	764	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	765	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	766
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2427 diff changeset	767	/****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Fri, 16 Sep 2016 12:35:09 +0200
branch	stable-1.5
changeset 2658	7690a5df7539
parent 2447	e93efb4af231
child 2703	045624f7f4c3
permissions	-rw-r--r--