etherlabmaster: lib/slave_config.c@9c3e629a220c (annotated)

1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 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	* $Id$
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	4	*
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	5	* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 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.
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 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/>.
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	22	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 diff changeset	23	* ---
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	24	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1352 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: 1352 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: 1352 diff changeset	27	* industrial property and similar rights of Beckhoff Automation GmbH.
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	30
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <stdlib.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <stdio.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <string.h>
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	34	#include <errno.h> /* ENOENT */
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	35
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	36	#include "ioctl.h"
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "slave_config.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "domain.h"
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	39	#include "sdo_request.h"
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	40	#include "voe_handler.h"
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "master.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	45	void ec_slave_config_clear(ec_slave_config_t *sc)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	46	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	47	ec_sdo_request_t r, next_r;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	48	ec_voe_handler_t v, next_v;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	49
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	50	r = sc->first_sdo_request;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	51	while (r) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	52	next_r = r->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	53	ec_sdo_request_clear(r);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	54	r = next_r;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	55	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	56
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	57
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	58	v = sc->first_voe_handler;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	59	while (v) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	60	next_v = v->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	61	ec_voe_handler_clear(v);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	62	v = next_v;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	63	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	64	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	65
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	66	/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	67
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	69	ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	ec_ioctl_config_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	72	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	73
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	if (sync_index >= EC_MAX_SYNC_MANAGERS)
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	75	return -ENOENT;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	76
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	memset(&data, 0x00, sizeof(ec_ioctl_config_t));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	data.syncs[sync_index].dir = dir;
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	80	data.syncs[sync_index].watchdog_mode = watchdog_mode;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	81	data.syncs[sync_index].config_this = 1;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	82
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	83	ret = ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	84	if (EC_IOCTL_IS_ERROR(ret)) {
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	fprintf(stderr, "Failed to config sync manager: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	86	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	87	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	}
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	89
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	92
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	95	void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	96	uint16_t divider, uint16_t intervals)
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	97	{
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	98	ec_ioctl_config_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	99	int ret;
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	100
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	101	memset(&data, 0x00, sizeof(ec_ioctl_config_t));
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	102	data.config_index = sc->index;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	103	data.watchdog_divider = divider;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	104	data.watchdog_intervals = intervals;
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	105
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	106	ret = ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	107	if (EC_IOCTL_IS_ERROR(ret)) {
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	108	fprintf(stderr, "Failed to config watchdog: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	109	strerror(EC_IOCTL_ERRNO(ret)));
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	110	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	111	}
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	112
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	113	/*****************************************************************************/
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	114
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	uint8_t sync_index, uint16_t pdo_index)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	ec_ioctl_config_pdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	119	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	data.sync_index = sync_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	data.index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	124
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	125	ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	126	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	127	fprintf(stderr, "Failed to add PDO: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	128	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	129	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	}
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	131
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	134
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	136
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	uint8_t sync_index)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	ec_ioctl_config_pdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	141	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	142
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	data.sync_index = sync_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	145
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	146	ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	147	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	148	fprintf(stderr, "Failed to clear PDOs: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	149	strerror(EC_IOCTL_ERRNO(ret)));
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	152
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	154
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	uint8_t entry_bit_length)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	ec_ioctl_add_pdo_entry_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	160	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	161
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	data.pdo_index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	data.entry_index = entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	data.entry_subindex = entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	data.entry_bit_length = entry_bit_length;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	167
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	168	ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	169	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	170	fprintf(stderr, "Failed to add PDO entry: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	171	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	172	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	}
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	174
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	177
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	179
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	uint16_t pdo_index)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	ec_ioctl_config_pdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	184	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	185
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	data.index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	189	ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	190	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	191	fprintf(stderr, "Failed to clear PDO entries: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	192	strerror(EC_IOCTL_ERRNO(ret)));
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	195
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	197
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	int ecrt_slave_config_pdos(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	unsigned int n_syncs, const ec_sync_info_t syncs[])
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	201	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	unsigned int i, j, k;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	const ec_sync_info_t *sync_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	const ec_pdo_info_t *pdo_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	const ec_pdo_entry_info_t *entry_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	206
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	if (!syncs)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	209
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	for (i = 0; i < n_syncs; i++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	sync_info = &syncs[i];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	212
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	if (sync_info->index == (uint8_t) EC_END)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	break;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	215
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	fprintf(stderr, "Invalid sync manager index %u!\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	sync_info->index);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	219	return -ENOENT;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
1509 a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	222	ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
a864688e7de5 Added watchdog configuration via application interface (thanks to J. Mohre). Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	223	sync_info->dir, sync_info->watchdog_mode);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	224	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	225	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	226
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	if (sync_info->n_pdos && sync_info->pdos) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	229
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	for (j = 0; j < sync_info->n_pdos; j++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	pdo_info = &sync_info->pdos[j];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	232
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	233	ret = ecrt_slave_config_pdo_assign_add(
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	234	sc, sync_info->index, pdo_info->index);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	235	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	236	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	237
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	if (pdo_info->n_entries && pdo_info->entries) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	for (k = 0; k < pdo_info->n_entries; k++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	entry_info = &pdo_info->entries[k];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	243
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	244	ret = ecrt_slave_config_pdo_mapping_add(sc,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	245	pdo_info->index, entry_info->index,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	246	entry_info->subindex,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	247	entry_info->bit_length);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	248	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	249	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	255
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	258
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	260
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	int ecrt_slave_config_reg_pdo_entry(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	uint8_t subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	ec_domain_t *domain,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	unsigned int *bit_position
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	ec_ioctl_reg_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	int ret;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	271
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	data.entry_index = index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	data.entry_subindex = subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	data.domain_index = domain->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	276
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	278	if (EC_IOCTL_IS_ERROR(ret)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	279	fprintf(stderr, "Failed to register PDO entry: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	280	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	281	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	283
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	if (bit_position) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	*bit_position = data.bit_position;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	} else {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	if (data.bit_position) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	288	fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	"in config %u:%u.\n", index, subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	sc->alias, sc->position);
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	291	return -EFAULT;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	294
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	return ret;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	297
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	299
1448 d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and Florian Pose <fp@igh-essen.com> parents: 1438 diff changeset	300	void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	301	uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	302	uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	303	{
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	304	ec_ioctl_config_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	305	int ret;
1455 aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	306
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	307	data.config_index = sc->index;
aa18fcfe0fd1 Output DC config in 'ethercat config'. Florian Pose <fp@igh-essen.com> parents: 1448 diff changeset	308	data.dc_assign_activate = assign_activate;
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	309	data.dc_sync[0].cycle_time = sync0_cycle_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	310	data.dc_sync[0].shift_time = sync0_shift_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	311	data.dc_sync[1].cycle_time = sync1_cycle_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1455 diff changeset	312	data.dc_sync[1].shift_time = sync1_shift_time;
1438 1d30b96bb04f Replaced ecrt_slave_config_dc_cycle_times() and ecrt_slave_config_dc_shift_times() by ecrt_slave_config_dc_sync_signals(). Florian Pose <fp@igh-essen.com> parents: 1413 diff changeset	313
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	314	ret = ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	315	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	316	fprintf(stderr, "Failed to set assign_activate word: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	317	strerror(EC_IOCTL_ERRNO(ret)));
1413 44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	318	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	319	}
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	320
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	321	/*****************************************************************************/
44c2b7c0ae1a Userspace library implementation of DC functions. Florian Pose <fp@igh-essen.com> parents: 1371 diff changeset	322
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	uint8_t subindex, const uint8_t *sdo_data, size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	ec_ioctl_sc_sdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	327	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	328
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	data.index = index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	data.subindex = subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	data.data = sdo_data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	data.size = size;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	334	data.complete_access = 0;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	335
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	336	ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	337	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	338	fprintf(stderr, "Failed to configure SDO: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	339	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	340	return -EC_IOCTL_ERRNO(ret);
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	341	}
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	342
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	343	return 0;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	344	}
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	345
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	346	/*****************************************************************************/
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	347
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	348	int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	349	const uint8_t *sdo_data, size_t size)
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	350	{
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	351	ec_ioctl_sc_sdo_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	352	int ret;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	353
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	354	data.config_index = sc->index;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	355	data.index = index;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	356	data.subindex = 0;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	357	data.data = sdo_data;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	358	data.size = size;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1509 diff changeset	359	data.complete_access = 1;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	360
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	361	ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	362	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	363	fprintf(stderr, "Failed to configure SDO: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	364	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	365	return -EC_IOCTL_ERRNO(ret);
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	366	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	367
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	369	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	370
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	371	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	372
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	373	int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	uint8_t subindex, uint8_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	uint8_t data[1];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	377
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	378	EC_WRITE_U8(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	380	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	381
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	383
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	385	uint8_t subindex, uint16_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	387	uint8_t data[2];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	388
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	389	EC_WRITE_U16(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	391	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	392
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	394
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	uint8_t subindex, uint32_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	398	uint8_t data[4];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	399
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	EC_WRITE_U32(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	403
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	405
2438 9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	406	int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	407	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	408	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	409	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	410
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	411	io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	412	io.size = elements;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	413
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	414	ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_SIZE, &io);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	415	if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	416	fprintf(stderr, "Failed to set emergency ring size: %s\n",
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	417	strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	418	return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	419	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	420
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	421	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	422	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	423
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	424	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	425
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	426	int ecrt_slave_config_emerg_pop(ec_slave_config_t sc, uint8_t target)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	427	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	428	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	429	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	430
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	431	io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	432	io.target = target;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	433
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	434	ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_POP, &io);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	435	if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	436	fprintf(stderr, "Failed to get emergency message: %s\n",
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	437	strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	438	return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	439	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	440
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	441	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	442	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	443
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	444	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	445
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	446	int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	447	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	448	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	449	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	450
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	451	io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	452
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	453	ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_CLEAR, &io);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	454	if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	455	fprintf(stderr, "Failed to clear emergency ring: %s\n",
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	456	strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	457	return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	458	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	459
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	460	return 0;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	461	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	462
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	463	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	464
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	465	int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	466	{
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	467	ec_ioctl_sc_emerg_t io;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	468	int ret;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	469
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	470	io.config_index = sc->index;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	471
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	472	ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_OVERRUNS, &io);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	473	if (EC_IOCTL_IS_ERROR(ret)) {
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	474	fprintf(stderr, "Failed to get emergency overruns: %s\n",
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	475	strerror(EC_IOCTL_ERRNO(ret)));
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	476	return -EC_IOCTL_ERRNO(ret);
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	477	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	478
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	479	return io.overruns;
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	480	}
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	481
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	482	/*****************************************************************************/
9c3e629a220c Added API for querying CoE emergency requests. Florian Pose <fp@igh-essen.com> parents: 2433 diff changeset	483
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	484	void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	485	ec_sdo_request_t *req)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	486	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	487	if (sc->first_sdo_request) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	488	ec_sdo_request_t *r = sc->first_sdo_request;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	489	while (r->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	490	r = r->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	491	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	492	r->next = req;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	493	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	494	sc->first_sdo_request = req;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	495	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	496	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	497
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	498	/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	499
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	500	ec_sdo_request_t ecrt_slave_config_create_sdo_request(ec_slave_config_t sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	uint16_t index, uint8_t subindex, size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	502	{
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	503	ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	504	ec_sdo_request_t *req;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	505	int ret;
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	506
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	507	req = malloc(sizeof(ec_sdo_request_t));
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	508	if (!req) {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	509	fprintf(stderr, "Failed to allocate memory.\n");
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	510	return 0;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	511	}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	512
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	513	if (size) {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	514	req->data = malloc(size);
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	515	if (!req->data) {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	516	fprintf(stderr, "Failed to allocate %u bytes of SDO data"
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	517	" memory.\n", size);
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	518	free(req);
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	519	return 0;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	520	}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	521	} else {
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	522	req->data = NULL;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	523	}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	524
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	525	data.config_index = sc->index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	526	data.sdo_index = index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	527	data.sdo_subindex = subindex;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	528	data.size = size;
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	529
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	530	ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	531	if (EC_IOCTL_IS_ERROR(ret)) {
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	532	fprintf(stderr, "Failed to create SDO request: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	533	strerror(EC_IOCTL_ERRNO(ret)));
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	534	ec_sdo_request_clear(req);
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	535	free(req);
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	536	return NULL;
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	537	}
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	538
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	539	req->next = NULL;
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	540	req->config = sc;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	541	req->index = data.request_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	542	req->sdo_index = data.sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	543	req->sdo_subindex = data.sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	544	req->data_size = size;
275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	545	req->mem_size = size;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	546
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	547	ec_slave_config_add_sdo_request(sc, req);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	548
1352 275d2fdeab48 Implemented SDO requests in userspace library. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	549	return req;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	550	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	551
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	552	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	553
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	554	void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	555	ec_voe_handler_t *voe)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	556	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	557	if (sc->first_voe_handler) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	558	ec_voe_handler_t *v = sc->first_voe_handler;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	559	while (v->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	560	v = v->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	561	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	562	v->next = voe;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	563	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	564	sc->first_voe_handler = voe;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	565	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	566	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	567
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	568	/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	569
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	570	ec_voe_handler_t ecrt_slave_config_create_voe_handler(ec_slave_config_t sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	571	size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	572	{
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	573	ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	574	ec_voe_handler_t *voe;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	575	int ret;
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	576
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	577	voe = malloc(sizeof(ec_voe_handler_t));
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	578	if (!voe) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	579	fprintf(stderr, "Failed to allocate memory.\n");
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	580	return 0;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	581	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	582
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	583	if (size) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	584	voe->data = malloc(size);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	585	if (!voe->data) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	586	fprintf(stderr, "Failed to allocate %u bytes of VoE data"
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	587	" memory.\n", size);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	588	free(voe);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	589	return 0;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	590	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	591	} else {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	592	voe->data = NULL;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	593	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	594
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	595	data.config_index = sc->index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	596	data.size = size;
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	597
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	598	ret = ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	599	if (EC_IOCTL_IS_ERROR(ret)) {
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	600	fprintf(stderr, "Failed to create VoE handler: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	601	strerror(EC_IOCTL_ERRNO(ret)));
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	602	ec_voe_handler_clear(voe);
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	603	free(voe);
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	604	return NULL;
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	605	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	606
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	607	voe->next = NULL;
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	608	voe->config = sc;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	609	voe->index = data.voe_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	610	voe->data_size = size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	611	voe->mem_size = size;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	612
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	613	ec_slave_config_add_voe_handler(sc, voe);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	614
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	615	return voe;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	616	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	617
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	618	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	619
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	620	void ecrt_slave_config_state(const ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	621	ec_slave_config_state_t *state)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	622	{
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	623	ec_ioctl_sc_state_t data;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	624	int ret;
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	625
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	626	data.config_index = sc->index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	627	data.state = state;
2421 bc2d4bf9cbe5 Removed trailing spaces. Florian Pose <fp@igh-essen.com> parents: 1963 diff changeset	628
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	629	ret = ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	630	if (EC_IOCTL_IS_ERROR(ret)) {
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	631	fprintf(stderr, "Failed to get slave configuration state: %s\n",
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	632	strerror(EC_IOCTL_ERRNO(ret)));
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	633	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	634	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	635
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	636	/*****************************************************************************/
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	637
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	638	int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	639	uint16_t idn, ec_al_state_t al_state, const uint8_t *data, size_t size)
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	640	{
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	641	ec_ioctl_sc_idn_t io;
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	642	int ret;
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	643
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	644	io.config_index = sc->index;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1945 diff changeset	645	io.drive_no = drive_no;
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	646	io.idn = idn;
1945 f9204699e799 Incremented ioctl interface version; Minor changes. Florian Pose <fp@igh-essen.com> parents: 1944 diff changeset	647	io.al_state = al_state;
1862 05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	648	io.data = data;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	649	io.size = size;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	650
2433 3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	651	ret = ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	652	if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	653	fprintf(stderr, "Failed to configure IDN: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	654	strerror(EC_IOCTL_ERRNO(ret)));
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	655	return -EC_IOCTL_ERRNO(ret);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	656	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	657
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	658	return 0;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	659	}
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	660
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface. Florian Pose <fp@igh-essen.com> parents: 2428 diff changeset	661	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 06 Nov 2012 14:23:44 +0100
branch	stable-1.5
changeset 2438	9c3e629a220c
parent 2433	3bdd7a747fae
child 2443	2c3ccdde3919
permissions	-rw-r--r--