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

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 *  

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 *  $Id$

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 *  

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

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 *  

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

     8

 *  

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

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

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

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 *  of the License.

    13

 *

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

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

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

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 *  GNU Lesser General Public License for more details.

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 *

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

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

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

    22

 *  

    23

 *  ---

    24

 *  

    25

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

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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    31

#include <stdlib.h>

    32

#include <sys/ioctl.h>

    33

#include <stdio.h>

    34

#include <errno.h>

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#include <string.h>

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#include <sys/mman.h>

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    38

#include "master.h"

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#include "domain.h"

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#include "slave_config.h"

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#include "master/ioctl.h"

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    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);

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   136

    return domain;

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}

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   139

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

   140

   141

void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc)

   142

{

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    if (master->first_config) {

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        ec_slave_config_t *c = master->first_config;

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        while (c->next) {

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            c = c->next;

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        }

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        c->next = sc;

   149

    } else {

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        master->first_config = sc;

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    }

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}

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   154

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

   155

   156

ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,

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        uint16_t alias, uint16_t position, uint32_t vendor_id,

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        uint32_t product_code)

   159

{

   160

    ec_ioctl_config_t data;

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    ec_slave_config_t *sc;

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    int index;

   163

   164

    sc = malloc(sizeof(ec_slave_config_t));

   165

    if (!sc) {

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

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        return 0;

   168

    }

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   170

    data.alias = alias;

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    data.position = position;

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    data.vendor_id = vendor_id;

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    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));

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        free(sc);

   179

        return 0; 

   180

    }

   181

   182

    sc->next = NULL;

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    sc->master = master;

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    sc->index = data.config_index;

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    sc->alias = alias;

   186

    sc->position = position;

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    sc->first_sdo_request = NULL;

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    sc->first_voe_handler = NULL;

   189

   190

    ec_master_add_slave_config(master, sc);

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   192

    return sc;

   193

}

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   195

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

   196

   197

int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)

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{

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    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));

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        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;

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    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;

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    int index;

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    data.position = slave_position;

   222

   223

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

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

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        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;

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    slave_info->serial_number = data.serial_number;

   233

    slave_info->alias = data.alias;

   234

    slave_info->current_on_ebus = data.current_on_ebus;

   235

    slave_info->al_state = data.al_state;

   236

    slave_info->error_flag = data.error_flag;

   237

    slave_info->sync_count = data.sync_count;

   238

    slave_info->sdo_count = data.sdo_count;

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

   240

    return 0;

   241

}

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   243

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

   244

   245

int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,

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        uint8_t sync_index, ec_sync_info_t *sync)

   247

{

   248

    ec_ioctl_slave_sync_t data;

   249

   250

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

   251

        return -ENOENT;

   252

   253

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

   254

    data.slave_position = slave_position;

   255

    data.sync_index = sync_index;

   256

   257

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

   258

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

   259

                strerror(errno));

   260

        return -1; // FIXME

   261

    }

   262

   263

    sync->index = sync_index;

   264

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

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        EC_DIR_OUTPUT : EC_DIR_INPUT;

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    sync->n_pdos = data.pdo_count;

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    sync->pdos = NULL;

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

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        EC_WD_ENABLE : EC_WD_DISABLE;

   270

   271

    return 0;

   272

}

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   274

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

   275

   276

int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,

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        uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)

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{

   279

    ec_ioctl_slave_sync_pdo_t data;

   280

   281

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

   282

        return -ENOENT;

   283

   284

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

   285

    data.slave_position = slave_position;

   286

    data.sync_index = sync_index;

   287

    data.pdo_pos = pos;

   288

   289

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

   290

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

   291

                strerror(errno));

   292

        return -1; // FIXME

   293

    }

   294

   295

    pdo->index = data.index;

   296

    pdo->n_entries = data.entry_count;

   297

    pdo->entries = NULL;

   298

   299

    return 0;

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}

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

   303

   304

int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,

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        uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,

   306

        ec_pdo_entry_info_t *entry)

   307

{

   308

    ec_ioctl_slave_sync_pdo_entry_t data;

   309

   310

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

   311

        return -ENOENT;

   312

   313

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

   314

    data.slave_position = slave_position;

   315

    data.sync_index = sync_index;

   316

    data.pdo_pos = pdo_pos;

   317

    data.entry_pos = entry_pos;

   318

   319

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

   320

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

   321

                strerror(errno));

   322

        return -1; // FIXME

   323

    }

   324

   325

    entry->index = data.index;

   326

    entry->subindex = data.subindex;

   327

    entry->bit_length = data.bit_length;

   328

   329

    return 0;

   330

}

   331

   332

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

   333

   334

int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,

   335

        uint16_t index, uint8_t subindex, uint8_t *data,

   336

        size_t data_size, uint32_t *abort_code)

   337

{

   338

    ec_ioctl_slave_sdo_download_t download;

   339

   340

    download.slave_position = slave_position;

   341

    download.sdo_index = index;

   342

    download.sdo_entry_subindex = subindex;

   343

    download.data_size = data_size;

   344

    download.data = data;

   345

   346

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

   347

        if (errno == EIO && abort_code) {

   348

            *abort_code = download.abort_code;

   349

        }

   350

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

   351

            strerror(errno));

   352

        return -1;

   353

    }

   354

   355

    return 0;

   356

}

   357

   358

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

   359

   360

int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,

   361

        uint16_t index, uint8_t subindex, uint8_t *target,

   362

        size_t target_size, size_t *result_size, uint32_t *abort_code)

   363

{

   364

    ec_ioctl_slave_sdo_upload_t upload;

   365

   366

    upload.slave_position = slave_position;

   367

    upload.sdo_index = index;

   368

    upload.sdo_entry_subindex = subindex;

   369

    upload.target_size = target_size;

   370

    upload.target = target;

   371

   372

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

   373

        if (errno == EIO && abort_code) {

   374

            *abort_code = upload.abort_code;

   375

        }

   376

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

   377

                strerror(errno));

   378

        return -1;

   379

    }

   380

   381

    *result_size = upload.data_size;

   382

    return 0;

   383

}

   384

   385

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

   386

   387

int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,

   388

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

   389

        uint16_t *error_code)

   390

{

   391

    ec_ioctl_slave_soe_write_t io;

   392

   393

    io.slave_position = slave_position;

   394

    io.drive_no = drive_no;

   395

    io.idn = idn;

   396

    io.data_size = data_size;

   397

    io.data = data;

   398

   399

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

   400

        if (errno == EIO && error_code) {

   401

            *error_code = io.error_code;

   402

        }

   403

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

   404

        return -1;

   405

    }

   406

   407

    return 0;

   408

}

   409

   410

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

   411

   412

int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,

   413

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

   414

        size_t *result_size, uint16_t *error_code)

   415

{

   416

    ec_ioctl_slave_soe_read_t io;

   417

   418

    io.slave_position = slave_position;

   419

    io.drive_no = drive_no;

   420

    io.idn = idn;

   421

    io.mem_size = target_size;

   422

    io.data = target;

   423

   424

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

   425

        if (errno == EIO && error_code) {

   426

            *error_code = io.error_code;

   427

        }

   428

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

   429

        return -1;

   430

    }

   431

   432

    *result_size = io.data_size;

   433

    return 0;

   434

}

   435

   436

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

   437

   438

int ecrt_master_activate(ec_master_t *master)

   439

{

   440

    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,

   441

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

   442

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

   443

                strerror(errno));

   444

        return -1; // FIXME

   445

    }

   446

   447

    if (master->process_data_size) {

   448

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

   449

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

   450

        if (master->process_data == MAP_FAILED) {

   451

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

   452

            master->process_data = NULL;

   453

            master->process_data_size = 0;

   454

            return -1; // FIXME

   455

        }

   456

   457

        // Access the mapped region to cause the initial page fault

   458

        master->process_data[0] = 0x00;

   459

    }

   460

   461

    return 0;

   462

}

   463

   464

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

   465

   466

void ecrt_master_deactivate(ec_master_t *master)

   467

{

   468

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

   469

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

   470

        return;

   471

    }

   472

   473

    ec_master_clear_config(master);

   474

}

   475

   476

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

   477

   478

int ecrt_master_set_send_interval(ec_master_t *master,size_t send_interval_us)

   479

{

   480

    if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,

   481

                &send_interval_us) == -1) {

   482

        fprintf(stderr, "Failed to set send interval: %s\n",

   483

                strerror(errno));

   484

        return -1; // FIXME

   485

    }

   486

    return 0;

   487

}

   488

   489

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

   490

   491

void ecrt_master_send(ec_master_t *master)

   492

{

   493

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