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

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 *  

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 *  $Id$

     4

 *  

     5

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

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 *  

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

     8

 *  

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

    10

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

    11

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

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 *  of the License.

    13

 *

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

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

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

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 *  GNU Lesser General Public License for more details.

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 *

    19

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

    20

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

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

    22

 *  

    23

 *  ---

    24

 *  

    25

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

    26

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    29

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

    30

    31

#include <stdlib.h>

    32

#include <sys/ioctl.h>

    33

#include <stdio.h>

    34

#include <errno.h>

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#include <string.h>

    36

    37

#include "slave_config.h"

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#include "domain.h"

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#include "sdo_request.h"

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#include "voe_handler.h"

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#include "master.h"

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#include "master/ioctl.h"

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    44

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

    45

    46

void ec_slave_config_clear(ec_slave_config_t *sc)

    47

{

    48

    ec_sdo_request_t *r, *next_r;

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    ec_voe_handler_t *v, *next_v;

    50

    51

    r = sc->first_sdo_request;

    52

    while (r) {

    53

        next_r = r->next;

    54

        ec_sdo_request_clear(r);

    55

        r = next_r;

    56

    }

    57

    58

    59

    v = sc->first_voe_handler;

    60

    while (v) {

    61

        next_v = v->next;

    62

        ec_voe_handler_clear(v);

    63

        v = next_v;

    64

    }

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}

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    67

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

    68

    69

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

    70

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

    71

{

    72

    ec_ioctl_config_t data;

    73

    unsigned int i;

    74

    75

    if (sync_index >= EC_MAX_SYNC_MANAGERS)

    76

        return -ENOENT;

    77

    78

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

    79

    data.config_index = sc->index;

    80

    data.syncs[sync_index].dir = dir;

    81

    data.syncs[sync_index].watchdog_mode = watchdog_mode;

    82

    data.syncs[sync_index].config_this = 1;

    83

    84

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

    85

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

    86

                strerror(errno));

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        return -1; // FIXME

    88

    }

    89

    90

    return 0;

    91

}

    92

    93

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

    94

    95

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

    96

        uint16_t divider, uint16_t intervals)

    97

{

    98

    ec_ioctl_config_t data;

    99

   100

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

   101

    data.config_index = sc->index;

   102

    data.watchdog_divider = divider;

   103

    data.watchdog_intervals = intervals;

   104

   105

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

   106

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

   107

                strerror(errno));

   108

    }

   109

}

   110

   111

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

   112

   113

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   114

        uint8_t sync_index, uint16_t pdo_index)

   115

{

   116

    ec_ioctl_config_pdo_t data;

   117

   118

    data.config_index = sc->index;

   119

    data.sync_index = sync_index;

   120

    data.index = pdo_index;

   121

   122

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

   123

        fprintf(stderr, "Failed to add PDO: %s\n",

   124

                strerror(errno));

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        return -1;  // FIXME

   126

    }

   127

   128

    return 0;

   129

}

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   131

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

   132

   133

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   134

        uint8_t sync_index)

   135

{

   136

    ec_ioctl_config_pdo_t data;

   137

   138

    data.config_index = sc->index;

   139

    data.sync_index = sync_index;

   140

   141

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

   142

        fprintf(stderr, "Failed to clear PDOs: %s\n",

   143

                strerror(errno));

   144

    }

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}

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   147

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

   148

   149

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

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        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   151

        uint8_t entry_bit_length)

   152

{

   153

    ec_ioctl_add_pdo_entry_t data;

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   155

    data.config_index = sc->index;

   156

    data.pdo_index = pdo_index;

   157

    data.entry_index = entry_index;

   158

    data.entry_subindex = entry_subindex;

   159

    data.entry_bit_length = entry_bit_length;

   160

   161

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

   162

        fprintf(stderr, "Failed to add PDO entry: %s\n",

   163

                strerror(errno));

   164

        return -1;  // FIXME

   165

    }

   166

   167

    return 0;

   168

}

   169

   170

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

   171

   172

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

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        uint16_t pdo_index)

   174

{

   175

    ec_ioctl_config_pdo_t data;

   176

   177

    data.config_index = sc->index;

   178

    data.index = pdo_index;

   179

   180

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

   181

        fprintf(stderr, "Failed to clear PDO entries: %s\n",

   182

                strerror(errno));

   183

    }

   184

}

   185

   186

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

   187

   188

int ecrt_slave_config_pdos(ec_slave_config_t *sc,

   189

        unsigned int n_syncs, const ec_sync_info_t syncs[])

   190

{

   191

    int ret;

   192

    unsigned int i, j, k;

   193

    const ec_sync_info_t *sync_info;

   194

    const ec_pdo_info_t *pdo_info;

   195

    const ec_pdo_entry_info_t *entry_info;

   196

   197

    if (!syncs)

   198

        return 0;

   199

   200

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

   201

        sync_info = &syncs[i];

   202

   203

        if (sync_info->index == (uint8_t) EC_END)

   204

            break;

   205

   206

        if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {

   207

            fprintf(stderr, "Invalid sync manager index %u!\n",

   208

                    sync_info->index);

   209

            return -ENOENT;

   210

        }

   211

   212

        ret = ecrt_slave_config_sync_manager(sc, sync_info->index,

   213

                sync_info->dir, sync_info->watchdog_mode);

   214

        if (ret)

   215

            return ret;

   216

   217

        if (sync_info->n_pdos && sync_info->pdos) {

   218

            ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);

   219

   220

            for (j = 0; j < sync_info->n_pdos; j++) {

   221

                pdo_info = &sync_info->pdos[j];

   222

   223

                ret = ecrt_slave_config_pdo_assign_add(

   224

                        sc, sync_info->index, pdo_info->index);

   225

                if (ret)

   226

                    return ret;

   227

   228

                if (pdo_info->n_entries && pdo_info->entries) {

   229

                    ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);

   230

   231

                    for (k = 0; k < pdo_info->n_entries; k++) {

   232

                        entry_info = &pdo_info->entries[k];

   233

   234

                        ret = ecrt_slave_config_pdo_mapping_add(sc,

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                                pdo_info->index, entry_info->index,

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                                entry_info->subindex,

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                                entry_info->bit_length);

   238

                        if (ret)

   239

                            return ret;

   240

                    }

   241

                }

   242

            }

   243

        }

   244

    }

   245

   246

    return 0;

   247

}

   248

   249

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

   250

   251

int ecrt_slave_config_reg_pdo_entry(

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        ec_slave_config_t *sc,

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        uint16_t index,

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        uint8_t subindex,

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        ec_domain_t *domain,

   256

        unsigned int *bit_position

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        )

   258

{

   259

    ec_ioctl_reg_pdo_entry_t data;

   260

    int ret;

   261

   262

    data.config_index = sc->index;

   263

    data.entry_index = index;

   264

    data.entry_subindex = subindex;

   265

    data.domain_index = domain->index;

   266

   267

    ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);

   268

    if (ret == -1) {

   269

        fprintf(stderr, "Failed to register PDO entry: %s\n",

   270

                strerror(errno));

   271

        return -2; // FIXME

   272

    }

   273

   274

    if (bit_position) {

   275

        *bit_position = data.bit_position;

   276

    } else {

   277

        if (data.bit_position) {

   278

            fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "

   279

                    "in config %u:%u.\n", index, subindex,

   280

                    sc->alias, sc->position);

   281

            return -3; // FIXME

   282

        }

   283

    }

   284

   285

    return ret;

   286

}

   287

   288

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

   289

   290

void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,

   291

        uint32_t sync0_cycle_time, uint32_t sync0_shift_time,

   292

        uint32_t sync1_cycle_time, uint32_t sync1_shift_time)

   293

{

   294

    ec_ioctl_config_t data;

   295

   296

    data.config_index = sc->index;

   297

    data.dc_assign_activate = assign_activate;

   298

    data.dc_sync[0].cycle_time = sync0_cycle_time;

   299

    data.dc_sync[0].shift_time = sync0_shift_time;

   300

    data.dc_sync[1].cycle_time = sync1_cycle_time;

   301

    data.dc_sync[1].shift_time = sync1_shift_time;

   302

   303

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

   304

        fprintf(stderr, "Failed to set assign_activate word.\n");

   305

    }

   306

}

   307

   308

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

   309

   310

int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,

   311

        uint8_t subindex, const uint8_t *sdo_data, size_t size)

   312

{

   313

    ec_ioctl_sc_sdo_t data;

   314

   315

    data.config_index = sc->index;

   316

    data.index = index;

   317

    data.subindex = subindex;

   318

    data.data = sdo_data;

   319

    data.size = size;

   320

    data.complete_access = 0;

   321

   322

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

   323

        fprintf(stderr, "Failed to configure SDO.\n");

   324

        return -1; // FIXME

   325

    }

   326

   327

    return 0;

   328

}

   329

   330

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

   331

   332

int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,

   333

        const uint8_t *sdo_data, size_t size)

   334

{

   335

    ec_ioctl_sc_sdo_t data;

   336

   337

    data.config_index = sc->index;

   338

    data.index = index;

   339

    data.subindex = 0;

   340

    data.data = sdo_data;

   341

    data.size = size;

   342

    data.complete_access = 1;

   343

   344

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

   345

        fprintf(stderr, "Failed to configure SDO.\n");

   346

        return -1; // FIXME

   347

    }

   348

   349

    return 0;

   350

}

   351

   352

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

   353

   354

int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,

   355

        uint8_t subindex, uint8_t value)

   356

{

   357

    uint8_t data[1];

   358

   359

    EC_WRITE_U8(data, value);

   360

    return ecrt_slave_config_sdo(sc, index, subindex, data, 1);

   361

}

   362

   363

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

   364

   365

int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,

   366

        uint8_t subindex, uint16_t value)

   367

{

   368

    uint8_t data[2];

   369

   370

    EC_WRITE_U16(data, value);

   371

    return ecrt_slave_config_sdo(sc, index, subindex, data, 2);

   372

}

   373

   374

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

   375

   376

int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,

   377

        uint8_t subindex, uint32_t value)

   378

{

   379

    uint8_t data[4];

   380

   381

    EC_WRITE_U32(data, value);

   382

    return ecrt_slave_config_sdo(sc, index, subindex, data, 4);

   383

}

   384

   385

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

   386

   387

void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,

   388

        ec_sdo_request_t *req)

   389

{

   390

    if (sc->first_sdo_request) {

   391

        ec_sdo_request_t *r = sc->first_sdo_request;

   392

        while (r->next) {

   393

            r = r->next;

   394

        }

   395

        r->next = req;

   396

    } else {

   397

        sc->first_sdo_request = req;

   398

    }

   399

}

   400

   401

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

   402

   403

ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,

   404

        uint16_t index, uint8_t subindex, size_t size)

   405

{

   406

    ec_ioctl_sdo_request_t data;

   407

    ec_sdo_request_t *req;

   408

   409

    req = malloc(sizeof(ec_sdo_request_t));

   410

    if (!req) {

   411

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

   412

        return 0;

   413

    }

   414

   415

    if (size) {

   416

        req->data = malloc(size);

   417

        if (!req->data) {

   418

            fprintf(stderr, "Failed to allocate %u bytes of SDO data"

   419

                    " memory.\n", size);

   420

            free(req);

   421

            return 0;

   422

        }

   423

    } else {

   424

        req->data = NULL;

   425

    }

   426

   427

    data.config_index = sc->index;

   428

    data.sdo_index = index;

   429

    data.sdo_subindex = subindex;

   430

    data.size = size;

   431

   432

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

   433

        fprintf(stderr, "Failed to create SDO request: %s\n",

   434

                strerror(errno));

   435

        ec_sdo_request_clear(req);

   436

        free(req);

   437

        return NULL; 

   438

    }

   439

   440

    req->next = NULL;

   441

    req->config = sc;

   442

    req->index = data.request_index;

   443

    req->sdo_index = data.sdo_index;

   444

    req->sdo_subindex = data.sdo_subindex;

   445

    req->data_size = size;

   446

    req->mem_size = size;

   447

   448

    ec_slave_config_add_sdo_request(sc, req);

   449

   450

    return req;

   451

}

   452

   453

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

   454

   455

void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,

   456

        ec_voe_handler_t *voe)

   457

{

   458

    if (sc->first_voe_handler) {

   459

        ec_voe_handler_t *v = sc->first_voe_handler;

   460

        while (v->next) {

   461

            v = v->next;

   462

        }

   463

        v->next = voe;

   464

    } else {

   465

        sc->first_voe_handler = voe;

   466

    }

   467

}

   468

   469

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

   470

   471

ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,

   472

        size_t size)

   473

{

   474

    ec_ioctl_voe_t data;

   475

    ec_voe_handler_t *voe;

   476

    unsigned int index;

   477

   478

    voe = malloc(sizeof(ec_voe_handler_t));

   479

    if (!voe) {

   480

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

   481

        return 0;

   482

    }

   483

   484

    if (size) {

   485

        voe->data = malloc(size);

   486

        if (!voe->data) {

   487

            fprintf(stderr, "Failed to allocate %u bytes of VoE data"

   488

                    " memory.\n", size);

   489

            free(voe);

   490

            return 0;

   491

        }

   492

    } else {

   493

        voe->data = NULL;

   494

    }

   495

   496

    data.config_index = sc->index;

   497

    data.size = size;

   498

   499

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

   500

        fprintf(stderr, "Failed to create VoE handler: %s\n",

   501

                strerror(errno));

   502

        ec_voe_handler_clear(voe);

   503

        free(voe);

   504

        return NULL; 

   505

    }

   506