lib/master.c
author Florian Pose <fp@igh-essen.com>
Thu, 30 Apr 2009 16:04:44 +0000
changeset 1430 97ab86a9b1d7
parent 1417 7c2d5d69134c
child 1434 4c6fe0ae37f1
permissions -rw-r--r--
Set system time transmission delay during config.
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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.
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 *  
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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.
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 *
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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/>.
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 *  
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 *  ---
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 *  
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 *  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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#include <stdlib.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include <sys/mman.h>
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#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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/*****************************************************************************/
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ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
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{
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    ec_domain_t *domain;
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    int index;
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    domain = malloc(sizeof(ec_domain_t));
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    if (!domain) {
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        fprintf(stderr, "Failed to allocate memory.\n");
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        return 0;
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    }
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    index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
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    if (index == -1) {
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        fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
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        free(domain);
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        return 0; 
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    }
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    domain->index = (unsigned int) index;
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    domain->master = master;
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    domain->process_data = NULL;
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    return domain;
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}
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/*****************************************************************************/
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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)
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{
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    ec_ioctl_config_t data;
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    ec_slave_config_t *sc;
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    int index;
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    sc = malloc(sizeof(ec_slave_config_t));
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    if (!sc) {
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        fprintf(stderr, "Failed to allocate memory.\n");
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        return 0;
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    }
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    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;
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    if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
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        fprintf(stderr, "Failed to create slave config: %s\n",
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                strerror(errno));
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        free(sc);
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        return 0; 
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    }
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    sc->master = master;
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    sc->index = data.config_index;
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    sc->alias = alias;
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    sc->position = position;
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    return sc;
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}
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/*****************************************************************************/
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int ecrt_master_slave(ec_master_t *master, uint16_t position,
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        ec_slave_info_t *slave_info)
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{
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    ec_ioctl_slave_t data;
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    int index;
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    data.position = position;
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    if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
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        fprintf(stderr, "Failed to get slave info: %s\n",
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                strerror(errno));
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        return -1;
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    }
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    slave_info->position = data.position;
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    slave_info->vendor_id = data.vendor_id;
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    slave_info->product_code = data.product_code;
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    slave_info->revision_number = data.revision_number;
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    slave_info->serial_number = data.serial_number;
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    slave_info->alias = data.alias;
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    slave_info->current_on_ebus = data.current_on_ebus;
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    slave_info->al_state = data.al_state;
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    slave_info->error_flag = data.error_flag;
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    slave_info->sync_count = data.sync_count;
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    slave_info->sdo_count = data.sdo_count;
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    strncpy(slave_info->name, data.name, EC_IOCTL_STRING_SIZE);
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    return 0;
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}
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/*****************************************************************************/
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int ecrt_master_activate(ec_master_t *master)
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{
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    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
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                &master->process_data_size) == -1) {
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        fprintf(stderr, "Failed to activate master: %s\n",
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                strerror(errno));
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        return -1; // FIXME
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    }
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    if (master->process_data_size) {
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        master->process_data = mmap(0, master->process_data_size,
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                PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);
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        if (master->process_data == MAP_FAILED) {
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            fprintf(stderr, "Failed to map process data: %s", strerror(errno));
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            master->process_data = NULL;
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            master->process_data_size = 0;
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            return -1; // FIXME
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        }
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        // Access the mapped region to cause the initial page fault
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        printf("pd: %x\n", master->process_data[0]);
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_master_send(ec_master_t *master)
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{
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    if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
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        fprintf(stderr, "Failed to send: %s\n", strerror(errno));
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    }
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}
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/*****************************************************************************/
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void ecrt_master_receive(ec_master_t *master)
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{
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    if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
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        fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
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    }
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}
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/*****************************************************************************/
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void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
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{
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    if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
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        fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
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    }
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}
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/*****************************************************************************/
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void ecrt_master_sync_reference_clock(ec_master_t *master, uint64_t app_time)
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{
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    ec_ioctl_dc_t data;
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    data.app_time = app_time;
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    if (ioctl(master->fd, EC_IOCTL_SYNC_REF, &data) == -1) {
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        fprintf(stderr, "Failed to sync reference clock: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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void ecrt_master_sync_slave_clocks(ec_master_t *master)
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{
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   209
    if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) {
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   210
        fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno));
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   211
    }
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}
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/*****************************************************************************/