lib/slave_config.c
author Florian Pose <fp@igh-essen.com>
Wed, 04 Jan 2012 13:57:48 +0100
changeset 2185 bc08b092238d
parent 2025 2d7e29d82e9a
child 2589 2b9c78543663
permissions -rw-r--r--
Minor changes.
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/******************************************************************************
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 *  
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 *  $Id$
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 *  
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *  
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 *  This file is part of the IgH EtherCAT master userspace library.
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 *  
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 *  The IgH EtherCAT master userspace library is free software; you can
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 *  redistribute it and/or modify it under the terms of the GNU Lesser General
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 *  Public License as published by the Free Software Foundation; version 2.1
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 *  of the License.
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 *
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 *  The IgH EtherCAT master userspace library is distributed in the hope that
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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU Lesser General Public License for more details.
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 *
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 *  You should have received a copy of the GNU Lesser General Public License
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 *  along with the IgH EtherCAT master userspace library. If not, see
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 *  <http://www.gnu.org/licenses/>.
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 *  
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 *  ---
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 *  
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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#include <stdlib.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include "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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/*****************************************************************************/
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void ec_slave_config_clear(ec_slave_config_t *sc)
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{
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    ec_sdo_request_t *r, *next_r;
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    ec_voe_handler_t *v, *next_v;
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    r = sc->first_sdo_request;
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    while (r) {
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        next_r = r->next;
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        ec_sdo_request_clear(r);
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        r = next_r;
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    }
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    v = sc->first_voe_handler;
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    while (v) {
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        next_v = v->next;
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        ec_voe_handler_clear(v);
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        v = next_v;
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    }
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}
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/*****************************************************************************/
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int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
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        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
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{
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    ec_ioctl_config_t data;
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    unsigned int i;
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    if (sync_index >= EC_MAX_SYNC_MANAGERS)
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        return -ENOENT;
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    memset(&data, 0x00, sizeof(ec_ioctl_config_t));
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    data.config_index = sc->index;
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    data.syncs[sync_index].dir = dir;
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    data.syncs[sync_index].watchdog_mode = watchdog_mode;
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    data.syncs[sync_index].config_this = 1;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
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        fprintf(stderr, "Failed to config sync manager: %s\n",
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                strerror(errno));
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        return -1; // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
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        uint16_t divider, uint16_t intervals)
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{
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    ec_ioctl_config_t data;
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    memset(&data, 0x00, sizeof(ec_ioctl_config_t));
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    data.config_index = sc->index;
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    data.watchdog_divider = divider;
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    data.watchdog_intervals = intervals;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data) == -1) {
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        fprintf(stderr, "Failed to config watchdog: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,
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        uint8_t allow_overlapping_pdos)
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{
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    ec_ioctl_config_t data;
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    memset(&data, 0x00, sizeof(ec_ioctl_config_t));
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    data.config_index = sc->index;
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    data.allow_overlapping_pdos = allow_overlapping_pdos;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_OVERLAPPING_IO, &data) == -1) {
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        fprintf(stderr, "Failed to config overlapping PDOs: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
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        uint8_t sync_index, uint16_t pdo_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.sync_index = sync_index;
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    data.index = pdo_index;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
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        fprintf(stderr, "Failed to add PDO: %s\n",
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                strerror(errno));
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        return -1;  // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
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        uint8_t sync_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.sync_index = sync_index;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
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        fprintf(stderr, "Failed to clear PDOs: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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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,
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        uint8_t entry_bit_length)
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{
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    ec_ioctl_add_pdo_entry_t data;
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    data.config_index = sc->index;
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    data.pdo_index = pdo_index;
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    data.entry_index = entry_index;
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    data.entry_subindex = entry_subindex;
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    data.entry_bit_length = entry_bit_length;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
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        fprintf(stderr, "Failed to add PDO entry: %s\n",
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                strerror(errno));
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        return -1;  // FIXME
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    }
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    return 0;
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}
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/*****************************************************************************/
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void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
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        uint16_t pdo_index)
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{
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    ec_ioctl_config_pdo_t data;
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    data.config_index = sc->index;
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    data.index = pdo_index;
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    if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
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        fprintf(stderr, "Failed to clear PDO entries: %s\n",
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                strerror(errno));
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    }
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}
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/*****************************************************************************/
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int ecrt_slave_config_pdos(ec_slave_config_t *sc,
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        unsigned int n_syncs, const ec_sync_info_t syncs[])
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{
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    int ret;
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    unsigned int i, j, k;
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    const ec_sync_info_t *sync_info;
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    const ec_pdo_info_t *pdo_info;
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    const ec_pdo_entry_info_t *entry_info;
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    if (!syncs)
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        return 0;
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    for (i = 0; i < n_syncs; i++) {
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        sync_info = &syncs[i];
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        if (sync_info->index == (uint8_t) EC_END)
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            break;
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        if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
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            fprintf(stderr, "Invalid sync manager index %u!\n",
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                    sync_info->index);
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            return -ENOENT;
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        }
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        ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
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                sync_info->dir, sync_info->watchdog_mode);
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        if (ret)
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            return ret;
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   234
        if (sync_info->n_pdos && sync_info->pdos) {
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            ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
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   236
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            for (j = 0; j < sync_info->n_pdos; j++) {
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                pdo_info = &sync_info->pdos[j];
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   239
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                ret = ecrt_slave_config_pdo_assign_add(
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                        sc, sync_info->index, pdo_info->index);
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                if (ret)
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   243
                    return ret;
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   244
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   245
                if (pdo_info->n_entries && pdo_info->entries) {
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   246
                    ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
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   247
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   248
                    for (k = 0; k < pdo_info->n_entries; k++) {
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   249
                        entry_info = &pdo_info->entries[k];
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                        ret = ecrt_slave_config_pdo_mapping_add(sc,
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                                pdo_info->index, entry_info->index,
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   253
                                entry_info->subindex,
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   254
                                entry_info->bit_length);
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                        if (ret)
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   256
                            return ret;
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                    }
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   258
                }
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   259
            }
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        }
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   261
    }
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   263
    return 0;
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   264
}
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/*****************************************************************************/
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   267
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   268
int ecrt_slave_config_reg_pdo_entry(
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   269
        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,
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        unsigned int *bit_position
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        )
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{
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    ec_ioctl_reg_pdo_entry_t data;
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    int ret;
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   278
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    data.config_index = sc->index;
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    data.entry_index = index;
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   281
    data.entry_subindex = subindex;
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   282
    data.domain_index = domain->index;
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   283
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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
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    if (ret == -1) {
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   286
        fprintf(stderr, "Failed to register PDO entry: %s\n",
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   287
                strerror(errno));
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   288
        return -2; // FIXME
1255
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   289
    }
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   290
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   291
    if (bit_position) {
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        *bit_position = data.bit_position;
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   293
    } else {
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   294
        if (data.bit_position) {
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   295
            fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
1255
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   296
                    "in config %u:%u.\n", index, subindex,
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   297
                    sc->alias, sc->position);
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   298
            return -3; // FIXME
1255
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   299
        }
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   300
    }
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   301
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   302
    return ret;
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   303
}
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/*****************************************************************************/
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   306
1448
d7ba0c408a07 Merged ecrt_slave_config_dc_assign_activate() and
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   307
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().
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   308
        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().
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   309
        uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
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{
1455
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   311
    ec_ioctl_config_t data;
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   312
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    data.config_index = sc->index;
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   314
    data.dc_assign_activate = assign_activate;
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60a116ed3897 Removed more tabulators.
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   315
    data.dc_sync[0].cycle_time = sync0_cycle_time;
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   316
    data.dc_sync[0].shift_time = sync0_shift_time;
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   317
    data.dc_sync[1].cycle_time = sync1_cycle_time;
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   318
    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().
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   319
1448
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   320
    if (ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data) == -1) {
1413
44c2b7c0ae1a Userspace library implementation of DC functions.
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   321
        fprintf(stderr, "Failed to set assign_activate word.\n");
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diff changeset
   322
    }
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   323
}
44c2b7c0ae1a Userspace library implementation of DC functions.
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   324
44c2b7c0ae1a Userspace library implementation of DC functions.
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   325
/*****************************************************************************/
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   326
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   327
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
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   328
        uint8_t subindex, const uint8_t *sdo_data, size_t size)
38b7e05b20c1 Added some slave configuration methods.
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   329
{
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   330
    ec_ioctl_sc_sdo_t data;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   331
38b7e05b20c1 Added some slave configuration methods.
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   332
    data.config_index = sc->index;
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   333
    data.index = index;
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   334
    data.subindex = subindex;
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   335
    data.data = sdo_data;
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   336
    data.size = size;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   337
    data.complete_access = 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   338
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   339
    if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   340
        fprintf(stderr, "Failed to configure SDO.\n");
66edd310830c Implemented CompleteAccess for SDO downloads.
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   341
        return -1; // FIXME
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   342
    }
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   343
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   344
    return 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
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   345
}
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   346
66edd310830c Implemented CompleteAccess for SDO downloads.
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   347
/*****************************************************************************/
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   348
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   349
int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
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   350
        const uint8_t *sdo_data, size_t size)
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   351
{
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   352
    ec_ioctl_sc_sdo_t data;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   353
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   354
    data.config_index = sc->index;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   355
    data.index = index;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
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diff changeset
   356
    data.subindex = 0;
66edd310830c Implemented CompleteAccess for SDO downloads.
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diff changeset
   357
    data.data = sdo_data;
66edd310830c Implemented CompleteAccess for SDO downloads.
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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.
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parents:
diff changeset
   360
1371
00e2975dc17b Fixed SDO configuration via library.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   361
    if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   362
        fprintf(stderr, "Failed to configure SDO.\n");
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   363
        return -1; // FIXME
1255
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   364
    }
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   365
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   366
    return 0;
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   367
}
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   368
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   369
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   370
38b7e05b20c1 Added some slave configuration methods.
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diff changeset
   371
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   372
        uint8_t subindex, uint8_t value)
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   373
{
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   374
    uint8_t data[1];
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   375
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   376
    EC_WRITE_U8(data, value);
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   377
    return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   378
}
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   379
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   380
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   381
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   382
int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   383
        uint8_t subindex, uint16_t value)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
    uint8_t data[2];
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
    EC_WRITE_U16(data, value);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
    return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   389
}
38b7e05b20c1 Added some slave configuration methods.
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parents:
diff changeset
   390
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
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
   394
        uint8_t subindex, uint32_t value)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
{
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
    uint8_t data[4];
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
    EC_WRITE_U32(data, value);
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
    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
   400
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
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
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   404
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
   405
        ec_sdo_request_t *req)
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   406
{
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   407
    if (sc->first_sdo_request) {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   408
        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
   409
        while (r->next) {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   410
            r = r->next;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   411
        }
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   412
        r->next = req;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   413
    } else {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   414
        sc->first_sdo_request = req;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   415
    }
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   416
}
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   417
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   418
/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   419
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
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
   421
        uint16_t index, uint8_t subindex, size_t size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
{
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   423
    ec_ioctl_sdo_request_t data;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   424
    ec_sdo_request_t *req;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   425
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   426
    req = malloc(sizeof(ec_sdo_request_t));
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   427
    if (!req) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   428
        fprintf(stderr, "Failed to allocate memory.\n");
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   429
        return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   430
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   431
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   432
    if (size) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   433
        req->data = malloc(size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   434
        if (!req->data) {
2025
2d7e29d82e9a fixed warning due to 64bit size_t
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
   435
            fprintf(stderr, "Failed to allocate %zu bytes of SDO data"
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   436
                    " memory.\n", size);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   437
            free(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   438
            return 0;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   439
        }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   440
    } else {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   441
        req->data = NULL;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   442
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   443
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   444
    data.config_index = sc->index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   445
    data.sdo_index = index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   446
    data.sdo_subindex = subindex;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   447
    data.size = size;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   448
    
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   449
    if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) {
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   450
        fprintf(stderr, "Failed to create SDO request: %s\n",
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   451
                strerror(errno));
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   452
        ec_sdo_request_clear(req);
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   453
        free(req);
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   454
        return NULL; 
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   455
    }
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   456
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   457
    req->next = NULL;
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   458
    req->config = sc;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   459
    req->index = data.request_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   460
    req->sdo_index = data.sdo_index;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   461
    req->sdo_subindex = data.sdo_subindex;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   462
    req->data_size = size;
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   463
    req->mem_size = size;
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   464
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   465
    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
   466
1352
275d2fdeab48 Implemented SDO requests in userspace library.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
   467
    return req;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   472
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
   473
        ec_voe_handler_t *voe)
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   474
{
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   475
    if (sc->first_voe_handler) {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   476
        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
   477
        while (v->next) {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   478
            v = v->next;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   479
        }
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   480
        v->next = voe;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   481
    } else {
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   482
        sc->first_voe_handler = voe;
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   483
    }
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   484
}
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   485
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
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
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
   489
        size_t size)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
{
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   491
    ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   492
    ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   493
    unsigned int index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   494
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   495
    voe = malloc(sizeof(ec_voe_handler_t));
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   496
    if (!voe) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   497
        fprintf(stderr, "Failed to allocate memory.\n");
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   498
        return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   499
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   500
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   501
    if (size) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   502
        voe->data = malloc(size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   503
        if (!voe->data) {
2025
2d7e29d82e9a fixed warning due to 64bit size_t
Martin Troxler <ch1010277@ch10pc446>
parents: 1995
diff changeset
   504
            fprintf(stderr, "Failed to allocate %zu bytes of VoE data"
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   505
                    " memory.\n", size);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   506
            free(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   507
            return 0;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   508
        }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   509
    } else {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   510
        voe->data = NULL;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   511
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   512
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   513
    data.config_index = sc->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   514
    data.size = size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   515
    
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   516
    if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   517
        fprintf(stderr, "Failed to create VoE handler: %s\n",
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   518
                strerror(errno));
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   519
        ec_voe_handler_clear(voe);
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   520
        free(voe);
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   521
        return NULL; 
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   522
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   523
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   524
    voe->next = NULL;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   525
    voe->config = sc;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   526
    voe->index = data.voe_index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   527
    voe->data_size = size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   528
    voe->mem_size = size;
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   529
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   530
    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
   531
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1259
diff changeset
   532
    return voe;
1255
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
}
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
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
   538
        ec_slave_config_state_t *state)
38b7e05b20c1 Added some slave configuration methods.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
{
1259
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   540
    ec_ioctl_sc_state_t data;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   541
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   542
    data.config_index = sc->index;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   543
    data.state = state;
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   544
    
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   545
    if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) {
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   546
        fprintf(stderr, "Failed to get slave configuration state: %s\n",
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   547
                strerror(errno));
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   548
    }
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   549
}
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   550
5f9d1abbee71 Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents: 1255
diff changeset
   551
/*****************************************************************************/
1862
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   552
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   553
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
   554
        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
   555
{
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   556
    ec_ioctl_sc_idn_t io;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   557
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   558
    io.config_index = sc->index;
1952
7d9fb723fc4b Added drive_no parameter to SoE layer.
Florian Pose <fp@igh-essen.com>
parents: 1945
diff changeset
   559
    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
   560
    io.idn = idn;
1945
f9204699e799 Incremented ioctl interface version; Minor changes.
Florian Pose <fp@igh-essen.com>
parents: 1944
diff changeset
   561
    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
   562
    io.data = data;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   563
    io.size = size;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   564
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   565
    if (ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io) == -1) {
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   566
        fprintf(stderr, "Failed to configure IDN.\n");
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   567
        return -1; // FIXME
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   568
    }
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   569
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   570
    return 0;
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   571
}
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   572
05d224a66270 Implemented ecrt_slave_config_idn() for user-space library.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   573
/*****************************************************************************/