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

     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 <unistd.h> /* close() */

    32

#include <stdlib.h>

    33

#include <sys/ioctl.h>

    34

#include <stdio.h>

    35

#include <errno.h>

    36

#include <string.h>

    37

#include <sys/mman.h>

    38

    39

#include "master.h"

    40

#include "domain.h"

    41

#include "slave_config.h"

    42

#include "master/ioctl.h"

    43

    44

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

    45

    46

int ecrt_master_reserve(ec_master_t *master)

    47

{

    48

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

    49

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

    50

                strerror(errno));

    51

        return -1;

    52

    }

    53

    return 0;

    54

}

    55

    56

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

    57

    58

void ec_master_clear_config(ec_master_t *master)

    59

{

    60

    ec_domain_t *d, *next_d;

    61

    ec_slave_config_t *c, *next_c;

    62

    63

    d = master->first_domain;

    64

    while (d) {

    65

        next_d = d->next;

    66

        ec_domain_clear(d);

    67

        d = next_d;

    68

    }

    69

    master->first_domain = NULL;

    70

    71

    c = master->first_config;

    72

    while (c) {

    73

        next_c = c->next;

    74

        ec_slave_config_clear(c);

    75

        c = next_c;

    76

    }

    77

    master->first_config = NULL;

    78

}

    79

    80

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

    81

    82

void ec_master_clear(ec_master_t *master)

    83

{

    84

    if (master->process_data)  {

    85

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

    86

    }

    87

    88

    ec_master_clear_config(master);

    89

    90

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

    91

        close(master->fd);

    92

    }

    93

}

    94

    95

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

    96

    97

void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain)

    98

{

    99

    if (master->first_domain) {

   100

        ec_domain_t *d = master->first_domain;

   101

        while (d->next) {

   102

            d = d->next;

   103

        }

   104

        d->next = domain;

   105

    } else {

   106

        master->first_domain = domain;

   107

    }

   108

}

   109

   110

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

   111

   112

ec_domain_t *ecrt_master_create_domain(ec_master_t *master)

   113

{

   114

    ec_domain_t *domain;

   115

    int index;

   116

   117

    domain = malloc(sizeof(ec_domain_t));

   118

    if (!domain) {

   119

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

   120

        return 0;

   121

    }

   122

   123

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

   124

    if (index == -1) {

   125

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

   126

        free(domain);

   127

        return 0;

   128

    }

   129

   130

    domain->next = NULL;

   131

    domain->index = (unsigned int) index;

   132

    domain->master = master;

   133

    domain->process_data = NULL;

   134

   135

    ec_master_add_domain(master, domain);

   136

   137

    return domain;

   138

}

   139

   140

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

   141

   142

void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc)

   143

{

   144

    if (master->first_config) {

   145

        ec_slave_config_t *c = master->first_config;

   146

        while (c->next) {

   147

            c = c->next;

   148

        }

   149

        c->next = sc;

   150

    } else {

   151

        master->first_config = sc;

   152

    }

   153

}

   154

   155

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

   156

   157

ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,

   158

        uint16_t alias, uint16_t position, uint32_t vendor_id,

   159

        uint32_t product_code)

   160

{

   161

    ec_ioctl_config_t data;

   162

    ec_slave_config_t *sc;

   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 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

   266

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

   267

    data.slave_position = slave_position;

   268

    data.sync_index = sync_index;

   269

   270

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

   271

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

   272

                strerror(errno));

   273

        return -1; // FIXME

   274

    }

   275

   276

    sync->index = sync_index;

   277

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

   278

        EC_DIR_OUTPUT : EC_DIR_INPUT;

   279

    sync->n_pdos = data.pdo_count;

   280

    sync->pdos = NULL;

   281

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

   282

        EC_WD_ENABLE : EC_WD_DISABLE;

   283

   284

    return 0;

   285

}

   286

   287

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

   288

   289

int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,

   290

        uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)

   291

{

   292

    ec_ioctl_slave_sync_pdo_t data;

   293

   294

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

   295

        return -ENOENT;

   296

   297

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

   298

    data.slave_position = slave_position;

   299

    data.sync_index = sync_index;

   300

    data.pdo_pos = pos;

   301

   302

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

   303

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

   304

                strerror(errno));

   305

        return -1; // FIXME

   306

    }

   307

   308

    pdo->index = data.index;

   309

    pdo->n_entries = data.entry_count;

   310

    pdo->entries = NULL;

   311

   312

    return 0;

   313

}

   314

   315

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

   316

   317

int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,

   318

        uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,

   319

        ec_pdo_entry_info_t *entry)

   320

{

   321

    ec_ioctl_slave_sync_pdo_entry_t data;

   322

   323

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

   324

        return -ENOENT;

   325

   326

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

   327

    data.slave_position = slave_position;

   328

    data.sync_index = sync_index;

   329

    data.pdo_pos = pdo_pos;

   330

    data.entry_pos = entry_pos;

   331

   332

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

   333

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

   334

                strerror(errno));

   335

        return -1; // FIXME

   336

    }

   337

   338

    entry->index = data.index;

   339

    entry->subindex = data.subindex;

   340

    entry->bit_length = data.bit_length;

   341

   342

    return 0;

   343

}

   344

   345

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

   346

   347

int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,

   348

        uint16_t index, uint8_t subindex, uint8_t *data,

   349

        size_t data_size, uint32_t *abort_code)

   350

{

   351

    ec_ioctl_slave_sdo_download_t download;

   352

   353

    download.slave_position = slave_position;

   354

    download.sdo_index = index;

   355

    download.sdo_entry_subindex = subindex;

   356

    download.complete_access = 0;

   357

    download.data_size = data_size;

   358

    download.data = data;

   359

   360

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

   361

        if (errno == EIO && abort_code) {

   362

            *abort_code = download.abort_code;

   363

        }

   364

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

   365

            strerror(errno));

   366

        return -1;

   367

    }

   368

   369

    return 0;

   370

}

   371

   372

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

   373

   374

int ecrt_master_sdo_download_complete(ec_master_t *master,

   375

        uint16_t slave_position, uint16_t index, uint8_t *data,

   376

        size_t data_size, uint32_t *abort_code)

   377

{

   378

    ec_ioctl_slave_sdo_download_t download;

   379

   380

    download.slave_position = slave_position;

   381

    download.sdo_index = index;

   382

    download.sdo_entry_subindex = 0;

   383

    download.complete_access = 1;

   384

    download.data_size = data_size;

   385

    download.data = data;

   386

   387

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

   388

        if (errno == EIO && abort_code) {

   389

            *abort_code = download.abort_code;

   390

        }

   391

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

   392

            strerror(errno));

   393

        return -1;

   394

    }

   395

   396

    return 0;

   397

}

   398

   399

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

   400

   401

int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,

   402

        uint16_t index, uint8_t subindex, uint8_t *target,

   403

        size_t target_size, size_t *result_size, uint32_t *abort_code)

   404

{

   405

    ec_ioctl_slave_sdo_upload_t upload;

   406

   407

    upload.slave_position = slave_position;

   408

    upload.sdo_index = index;

   409

    upload.sdo_entry_subindex = subindex;

   410

    upload.target_size = target_size;

   411

    upload.target = target;

   412

   413

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

   414

        if (errno == EIO && abort_code) {

   415

            *abort_code = upload.abort_code;

   416

        }

   417

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

   418

                strerror(errno));

   419

        return -1;

   420

    }

   421

   422

    *result_size = upload.data_size;

   423

    return 0;

   424

}

   425

   426

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

   427

   428

int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,

   429

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

   430

        uint16_t *error_code)

   431

{

   432

    ec_ioctl_slave_soe_write_t io;

   433

   434

    io.slave_position = slave_position;

   435

    io.drive_no = drive_no;

   436

    io.idn = idn;

   437

    io.data_size = data_size;

   438

    io.data = data;

   439

   440

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

   441

        if (errno == EIO && error_code) {

   442

            *error_code = io.error_code;

   443

        }

   444

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

   445

        return -1;

   446

    }

   447

   448

    return 0;

   449

}

   450

   451

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

   452

   453

int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,

   454

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

   455

        size_t *result_size, uint16_t *error_code)

   456

{

   457

    ec_ioctl_slave_soe_read_t io;

   458

   459

    io.slave_position = slave_position;

   460

    io.drive_no = drive_no;

   461

    io.idn = idn;

   462

    io.mem_size = target_size;

   463

    io.data = target;

   464

   465

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

   466

        if (errno == EIO && error_code) {

   467

            *error_code = io.error_code;

   468

        }

   469

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

   470

        return -1;

   471

    }

   472

   473

    *result_size = io.data_size;

   474

    return 0;

   475

}

   476

   477

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

   478

   479

int ecrt_master_activate(ec_master_t *master)

   480

{

   481

    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,

   482

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

   483

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

   484

                strerror(errno));

   485

        return -1; // FIXME

   486

    }

   487

   488

    if (master->process_data_size) {

   489

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