1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT master userspace library.

     8

 *

     9

 *  The IgH EtherCAT master userspace library is free software; you can

    10

 *  redistribute it and/or modify it under the terms of the GNU Lesser General

    11

 *  Public License as published by the Free Software Foundation; version 2.1

    12

 *  of the License.

    13

 *

    14

 *  The IgH EtherCAT master userspace library is distributed in the hope that

    15

 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied

    16

 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU Lesser General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU Lesser General Public License

    20

 *  along with the IgH EtherCAT master userspace library. If not, see

    21

 *  <http://www.gnu.org/licenses/>.

    22

 *

    23

 *  ---

    24

 *

    25

 *  The license mentioned above concerns the source code only. Using the

    26

 *  EtherCAT technology and brand is only permitted in compliance with the

    27

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    28

 *

    29

 *****************************************************************************/

    30

    31

#include <stdlib.h>

    32

#include <sys/ioctl.h>

    33

#include <stdio.h>

    34

#include <errno.h>

    35

#include <string.h>

    36

#include <sys/mman.h>

    37

    38

#include "master.h"

    39

#include "domain.h"

    40

#include "slave_config.h"

    41

#include "master/ioctl.h"

    42

    43

/*****************************************************************************/

    44

    45

int ecrt_master_reserve(ec_master_t *master)

    46

{

    47

    if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {

    48

        fprintf(stderr, "Failed to reserve master: %s\n",

    49

                strerror(errno));

    50

        return -1;

    51

    }

    52

    return 0;

    53

}

    54

    55

/*****************************************************************************/

    56

    57

void ec_master_clear_config(ec_master_t *master)

    58

{

    59

    ec_domain_t *d, *next_d;

    60

    ec_slave_config_t *c, *next_c;

    61

    62

    d = master->first_domain;

    63

    while (d) {

    64

        next_d = d->next;

    65

        ec_domain_clear(d);

    66

        d = next_d;

    67

    }

    68

    master->first_domain = NULL;

    69

    70

    c = master->first_config;

    71

    while (c) {

    72

        next_c = c->next;

    73

        ec_slave_config_clear(c);

    74

        c = next_c;

    75

    }

    76

    master->first_config = NULL;

    77

}

    78

    79

/*****************************************************************************/

    80

    81

void ec_master_clear(ec_master_t *master)

    82

{

    83

    if (master->process_data)  {

    84

        munmap(master->process_data, master->process_data_size);

    85

    }

    86

    87

    ec_master_clear_config(master);

    88

    89

    if (master->fd != -1) {

    90

        close(master->fd);

    91

    }

    92

}

    93

    94

/*****************************************************************************/

    95

    96

void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain)

    97

{

    98

    if (master->first_domain) {

    99

        ec_domain_t *d = master->first_domain;

   100

        while (d->next) {

   101

            d = d->next;

   102

        }

   103

        d->next = domain;

   104

    } else {

   105

        master->first_domain = domain;

   106

    }

   107

}

   108

   109

/*****************************************************************************/

   110

   111

ec_domain_t *ecrt_master_create_domain(ec_master_t *master)

   112

{

   113

    ec_domain_t *domain;

   114

    int index;

   115

   116

    domain = malloc(sizeof(ec_domain_t));

   117

    if (!domain) {

   118

        fprintf(stderr, "Failed to allocate memory.\n");

   119

        return 0;

   120

    }

   121

   122

    index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);

   123

    if (index == -1) {

   124

        fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));

   125

        free(domain);

   126

        return 0;

   127

    }

   128

   129

    domain->next = NULL;

   130

    domain->index = (unsigned int) index;

   131

    domain->master = master;

   132

    domain->process_data = NULL;

   133

   134

    ec_master_add_domain(master, domain);

   135

   136

    return domain;

   137

}

   138

   139

/*****************************************************************************/

   140

   141

void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc)

   142

{

   143

    if (master->first_config) {

   144

        ec_slave_config_t *c = master->first_config;

   145

        while (c->next) {

   146

            c = c->next;

   147

        }

   148

        c->next = sc;

   149

    } else {

   150

        master->first_config = sc;

   151

    }

   152

}

   153

   154

/*****************************************************************************/

   155

   156

ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,

   157

        uint16_t alias, uint16_t position, uint32_t vendor_id,

   158

        uint32_t product_code)

   159

{

   160

    ec_ioctl_config_t data;

   161

    ec_slave_config_t *sc;

   162

    int index;

   163

   164

    sc = malloc(sizeof(ec_slave_config_t));

   165

    if (!sc) {

   166

        fprintf(stderr, "Failed to allocate memory.\n");

   167

        return 0;

   168

    }

   169

   170

    data.alias = alias;

   171

    data.position = position;

   172

    data.vendor_id = vendor_id;

   173

    data.product_code = product_code;

   174

   175

    if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {

   176

        fprintf(stderr, "Failed to create slave config: %s\n",

   177

                strerror(errno));

   178

        free(sc);

   179

        return 0;

   180

    }

   181

   182

    sc->next = NULL;

   183

    sc->master = master;

   184

    sc->index = data.config_index;

   185

    sc->alias = alias;

   186

    sc->position = position;

   187

    sc->first_sdo_request = NULL;

   188

    sc->first_voe_handler = NULL;

   189

   190

    ec_master_add_slave_config(master, sc);

   191

   192

    return sc;

   193

}

   194

   195

/*****************************************************************************/

   196

   197

int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)

   198

{

   199

    ec_ioctl_master_t data;

   200

   201

    if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {

   202

        fprintf(stderr, "Failed to get master info: %s\n", strerror(errno));

   203

        return -1;

   204

    }

   205

   206

    master_info->slave_count = data.slave_count;

   207

    master_info->link_up = data.devices[0].link_state;

   208

    master_info->scan_busy = data.scan_busy;

   209

    master_info->app_time = data.app_time;

   210

    return 0;

   211

}

   212

   213

/*****************************************************************************/

   214

   215

int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,

   216

        ec_slave_info_t *slave_info)

   217

{

   218

    ec_ioctl_slave_t data;

   219

    int index, i;

   220

   221

    data.position = slave_position;

   222

   223

    if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {

   224

        fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno));

   225

        return -1;

   226

    }

   227

   228

    slave_info->position = data.position;

   229

    slave_info->vendor_id = data.vendor_id;

   230

    slave_info->product_code = data.product_code;

   231

    slave_info->revision_number = data.revision_number;

   232

    slave_info->serial_number = data.serial_number;

   233

    slave_info->alias = data.alias;

   234

    slave_info->current_on_ebus = data.current_on_ebus;

   235

    for ( i = 0; i < EC_MAX_PORTS; i++ ) {

   236

    	slave_info->ports[i].desc = data.ports[i].desc;

   237

    	slave_info->ports[i].link.link_up = data.ports[i].link.link_up;

   238

    	slave_info->ports[i].link.loop_closed =

   239

            data.ports[i].link.loop_closed;

   240

    	slave_info->ports[i].link.signal_detected =

   241

            data.ports[i].link.signal_detected;

   242

    	slave_info->ports[i].receive_time = data.ports[i].receive_time;

   243

    	slave_info->ports[i].next_slave = data.ports[i].next_slave;

   244

    	slave_info->ports[i].delay_to_next_dc =

   245

            data.ports[i].delay_to_next_dc;

   246

    }

   247

    slave_info->al_state = data.al_state;

   248

    slave_info->error_flag = data.error_flag;

   249

    slave_info->sync_count = data.sync_count;

   250

    slave_info->sdo_count = data.sdo_count;

   251

    strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);

   252

    return 0;

   253

}

   254

   255

/*****************************************************************************/

   256

   257

int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,

   258

        uint8_t sync_index, ec_sync_info_t *sync)

   259

{

   260

    ec_ioctl_slave_sync_t data;

   261

   262

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

   263

        return -ENOENT;

   264

   265

    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));

   266

    data.slave_position = slave_position;

   267

    data.sync_index = sync_index;

   268

   269

    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data) == -1) {

   270

        fprintf(stderr, "Failed to get sync manager information: %s\n",

   271

                strerror(errno));

   272

        return -1; // FIXME

   273

    }

   274

   275

    sync->index = sync_index;

   276

    sync->dir = EC_READ_BIT(&data.control_register, 2) ?

   277

        EC_DIR_OUTPUT : EC_DIR_INPUT;

   278

    sync->n_pdos = data.pdo_count;

   279

    sync->pdos = NULL;

   280

    sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?

   281

        EC_WD_ENABLE : EC_WD_DISABLE;

   282

   283

    return 0;

   284

}

   285

   286

/*****************************************************************************/

   287

   288

int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,

   289

        uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)

   290

{

   291

    ec_ioctl_slave_sync_pdo_t data;

   292

   293

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

   294

        return -ENOENT;

   295

   296

    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));

   297

    data.slave_position = slave_position;

   298

    data.sync_index = sync_index;

   299

    data.pdo_pos = pos;

   300

   301

    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data) == -1) {

   302

        fprintf(stderr, "Failed to get pdo information: %s\n",

   303

                strerror(errno));

   304

        return -1; // FIXME

   305

    }

   306

   307

    pdo->index = data.index;

   308

    pdo->n_entries = data.entry_count;

   309

    pdo->entries = NULL;

   310

   311

    return 0;

   312

}

   313

   314

/*****************************************************************************/

   315

   316

int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,

   317

        uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,

   318

        ec_pdo_entry_info_t *entry)

   319

{

   320

    ec_ioctl_slave_sync_pdo_entry_t data;

   321

   322

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

   323

        return -ENOENT;

   324

   325

    memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));

   326

    data.slave_position = slave_position;

   327

    data.sync_index = sync_index;

   328

    data.pdo_pos = pdo_pos;

   329

    data.entry_pos = entry_pos;

   330

   331

    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data) == -1) {

   332

        fprintf(stderr, "Failed to get pdo entry information: %s\n",

   333

                strerror(errno));

   334

        return -1; // FIXME

   335

    }

   336

   337

    entry->index = data.index;

   338

    entry->subindex = data.subindex;

   339

    entry->bit_length = data.bit_length;

   340

   341

    return 0;

   342

}

   343

   344

/*****************************************************************************/

   345

   346

int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,

   347

        uint16_t index, uint8_t subindex, uint8_t *data,

   348

        size_t data_size, uint32_t *abort_code)

   349

{

   350

    ec_ioctl_slave_sdo_download_t download;

   351

   352

    download.slave_position = slave_position;

   353

    download.sdo_index = index;

   354

    download.sdo_entry_subindex = subindex;

   355

    download.complete_access = 0;

   356

    download.data_size = data_size;

   357

    download.data = data;

   358

   359

    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {

   360

        if (errno == EIO && abort_code) {

   361

            *abort_code = download.abort_code;

   362

        }

   363

        fprintf(stderr, "Failed to execute SDO download: %s\n",

   364

            strerror(errno));

   365

        return -1;

   366

    }

   367

   368

    return 0;

   369

}

   370

   371

/*****************************************************************************/

   372

   373

int ecrt_master_sdo_download_complete(ec_master_t *master,

   374

        uint16_t slave_position, uint16_t index, uint8_t *data,

   375

        size_t data_size, uint32_t *abort_code)

   376

{

   377

    ec_ioctl_slave_sdo_download_t download;

   378

   379

    download.slave_position = slave_position;

   380

    download.sdo_index = index;

   381

    download.sdo_entry_subindex = 0;

   382

    download.complete_access = 1;

   383

    download.data_size = data_size;

   384

    download.data = data;

   385

   386

    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {

   387

        if (errno == EIO && abort_code) {

   388

            *abort_code = download.abort_code;

   389

        }

   390

        fprintf(stderr, "Failed to execute SDO download: %s\n",

   391

            strerror(errno));

   392

        return -1;

   393

    }

   394

   395

    return 0;

   396

}

   397

   398

/*****************************************************************************/

   399

   400

int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,

   401

        uint16_t index, uint8_t subindex, uint8_t *target,

   402

        size_t target_size, size_t *result_size, uint32_t *abort_code)

   403

{

   404

    ec_ioctl_slave_sdo_upload_t upload;

   405

   406

    upload.slave_position = slave_position;

   407

    upload.sdo_index = index;

   408

    upload.sdo_entry_subindex = subindex;

   409

    upload.target_size = target_size;

   410

    upload.target = target;

   411

   412

    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {

   413

        if (errno == EIO && abort_code) {

   414

            *abort_code = upload.abort_code;

   415

        }

   416

        fprintf(stderr, "Failed to execute SDO upload: %s\n",

   417

                strerror(errno));

   418

        return -1;

   419

    }

   420

   421

    *result_size = upload.data_size;

   422

    return 0;

   423

}

   424

   425

/*****************************************************************************/

   426

   427

int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,

   428

        uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,

   429

        uint16_t *error_code)

   430

{

   431

    ec_ioctl_slave_soe_write_t io;

   432

   433

    io.slave_position = slave_position;

   434

    io.drive_no = drive_no;

   435

    io.idn = idn;

   436

    io.data_size = data_size;

   437

    io.data = data;

   438

   439

    if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io) == -1) {

   440

        if (errno == EIO && error_code) {

   441

            *error_code = io.error_code;

   442

        }

   443

        fprintf(stderr, "Failed to write IDN: %s\n", strerror(errno));

   444

        return -1;

   445

    }

   446

   447

    return 0;

   448

}

   449

   450

/*****************************************************************************/

   451

   452

int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,

   453

        uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,

   454

        size_t *result_size, uint16_t *error_code)

   455

{

   456

    ec_ioctl_slave_soe_read_t io;

   457

   458

    io.slave_position = slave_position;

   459

    io.drive_no = drive_no;

   460

    io.idn = idn;

   461

    io.mem_size = target_size;

   462

    io.data = target;

   463

   464

    if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io) == -1) {

   465

        if (errno == EIO && error_code) {

   466

            *error_code = io.error_code;

   467

        }

   468

        fprintf(stderr, "Failed to read IDN: %s\n", strerror(errno));

   469

        return -1;

   470

    }

   471

   472

    *result_size = io.data_size;

   473

    return 0;

   474

}

   475

   476

/*****************************************************************************/

   477

   478

int ecrt_master_activate(ec_master_t *master)

   479

{

   480

    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,

   481

                &master->process_data_size) == -1) {

   482

        fprintf(stderr, "Failed to activate master: %s\n",

   483

                strerror(errno));

   484

        return -1; // FIXME

   485

    }

   486

   487

    if (master->process_data_size) {

   488

        master->process_data = mmap(0, master->process_data_size,

   489

                PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);

   490

        if (master->process_data == MAP_FAILED) {

   491

            fprintf(stderr, "Failed to map process data: %s", strerror(errno));

   492

            master->process_data = NULL;