etherlabmaster: lib/slave_config.c@dd1f501c4070 (annotated)

1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
1266 dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	2	*
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	3	* $Id$
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	4	*
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	6	*
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	7	* This file is part of the IgH EtherCAT master userspace library.
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	8	*
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	9	* The IgH EtherCAT master userspace library is free software: you can
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	10	* redistribute it and/or modify it under the terms of the GNU Lesser General
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	11	* Public License as published by the Free Software Foundation, version 2 of
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	12	* the License.
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	13	*
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	14	* The IgH EtherCAT master userspace library is distributed in the hope that
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	15	* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	16	* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	17	* GNU Lesser General Public License for more details.
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	18	*
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	19	* You should have received a copy of the GNU Lesser General Public License
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	20	* along with the IgH EtherCAT master userspace library. If not, see
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	21	* <http://www.gnu.org/licenses/>.
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	22	*
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of charge
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	24	* under condition of compatibility of product made by Licensee. People
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	25	* intending to distribute/sell products based on the code, have to sign an
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	26	* agreement to guarantee that products using software based on IgH EtherCAT
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	27	* master stay compatible with the actual EtherCAT specification (which are
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	28	* released themselves as an open standard) as the (only) precondition to have
dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1264 diff changeset	29	* the right to use EtherCAT Technology, IP and trade marks.
1255 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	*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	32
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <stdlib.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include <sys/ioctl.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include <stdio.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	#include <errno.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include <string.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "slave_config.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "domain.h"
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	41	#include "voe_handler.h"
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "master/ioctl.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	ec_direction_t dir)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	ec_ioctl_config_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	unsigned int i;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	52
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	if (sync_index >= EC_MAX_SYNC_MANAGERS)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	55
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	memset(&data, 0x00, sizeof(ec_ioctl_config_t));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	data.syncs[sync_index].dir = dir;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	59
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	fprintf(stderr, "Failed to config sync manager: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	strerror(errno));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	65
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	/*****************************************************************************/
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	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	72	uint8_t sync_index, uint16_t pdo_index)
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	ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	75
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	data.sync_index = sync_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	data.index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	79
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	fprintf(stderr, "Failed to add Pdo: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	strerror(errno));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	88
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	90
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	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	92	uint8_t sync_index)
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	ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	95
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	data.sync_index = sync_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	98
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	fprintf(stderr, "Failed to clear Pdos: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	strerror(errno));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	104
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	106
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	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	108	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	109	uint8_t entry_bit_length)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	ec_ioctl_add_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	data.pdo_index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	data.entry_index = entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	data.entry_subindex = entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	data.entry_bit_length = entry_bit_length;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	118
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	fprintf(stderr, "Failed to add Pdo entry: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	strerror(errno));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	124
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	127
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	129
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	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	131	uint16_t pdo_index)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	ec_ioctl_config_pdo_t data;
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	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	data.index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	137
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	fprintf(stderr, "Failed to clear Pdo entries: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	strerror(errno));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	}
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
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	145
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	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	147	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	148	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	unsigned int i, j, k;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	const ec_sync_info_t *sync_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	const ec_pdo_info_t *pdo_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	const ec_pdo_entry_info_t *entry_info;
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	if (!syncs)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	156
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	for (i = 0; i < n_syncs; i++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	sync_info = &syncs[i];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	159
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	if (sync_info->index == (uint8_t) EC_END)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	break;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	162
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	fprintf(stderr, "Invalid sync manager index %u!\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	sync_info->index);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	168
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	if (ecrt_slave_config_sync_manager(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	sc, sync_info->index, sync_info->dir))
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	return -1;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	172
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	if (sync_info->n_pdos && sync_info->pdos) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	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	175
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	for (j = 0; j < sync_info->n_pdos; j++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	pdo_info = &sync_info->pdos[j];
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	if (ecrt_slave_config_pdo_assign_add(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	sc, sync_info->index, pdo_info->index))
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	return -1;
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	if (pdo_info->n_entries && pdo_info->entries) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	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	185
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	for (k = 0; k < pdo_info->n_entries; k++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	entry_info = &pdo_info->entries[k];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	if (ecrt_slave_config_pdo_mapping_add(sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	pdo_info->index, entry_info->index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	entry_info->subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	entry_info->bit_length))
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	return -1;
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	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	199
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	202
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	204
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	int ecrt_slave_config_reg_pdo_entry(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	uint8_t subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	ec_domain_t *domain,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	unsigned int *bit_position
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	)
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	ec_ioctl_reg_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	int ret;
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	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	data.entry_index = index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	data.entry_subindex = subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	data.domain_index = domain->index;
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	ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	if (ret == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	fprintf(stderr, "Failed to register Pdo entry: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	strerror(errno));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	return -2;
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
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	if (bit_position) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	*bit_position = data.bit_position;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	} else {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	if (data.bit_position) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	fprintf(stderr, "Pdo entry 0x%04X:%02X does not byte-align "
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	"in config %u:%u.\n", index, subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	sc->alias, sc->position);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	return -3;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	}
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
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	return ret;
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
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	243
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	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	245	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	246	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	ec_ioctl_sc_sdo_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	248
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	data.index = index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	data.subindex = subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	data.data = sdo_data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	data.size = size;
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	if (ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	fprintf(stderr, "Failed to configure Sdo.\n");
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	return -1;
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	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	262
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	264
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	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	266	uint8_t subindex, uint8_t value)
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	uint8_t data[1];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	269
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	EC_WRITE_U8(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	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	272	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	273
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	275
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	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	277	uint8_t subindex, uint16_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	uint8_t data[2];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	280
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	EC_WRITE_U16(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	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	283	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	284
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	286
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	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	288	uint8_t subindex, uint32_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	uint8_t data[4];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	291
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	EC_WRITE_U32(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	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	294	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	295
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	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	299	uint16_t index, uint8_t subindex, size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	{
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	301	return 0; // TODO
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	303
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	305
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	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	307	size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	{
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	309	ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	310	ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	311	unsigned int index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	312
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	313	voe = malloc(sizeof(ec_voe_handler_t));
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	314	if (!voe) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	315	fprintf(stderr, "Failed to allocate memory.\n");
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	316	return 0;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	317	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	318
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	319	if (size) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	320	voe->data = malloc(size);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	321	if (!voe->data) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	322	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	323	" memory.\n", size);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	324	free(voe);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	325	return 0;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	326	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	327	} else {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	328	voe->data = NULL;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	329	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	330
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	331	data.config_index = sc->index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	332	data.size = size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	333
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	334	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	335	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	336	strerror(errno));
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	337	if (voe->data)
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	338	free(voe->data);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	339	free(voe);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	340	return NULL;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	341	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	342
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	343	voe->config = sc;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	344	voe->index = data.voe_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	345	voe->data_size = size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	346	voe->mem_size = size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	347	return voe;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	349
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	351
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	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	353	ec_slave_config_state_t *state)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	{
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	355	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	356
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	357	data.config_index = sc->index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	358	data.state = state;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	359
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	360	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	361	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	362	strerror(errno));
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	363	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	364	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	365
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	366	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 14 Oct 2008 14:01:09 +0000
changeset 1266	dd1f501c4070
parent 1264	e7882f246d7a
child 1287	cc7b679c74e9
permissions	-rw-r--r--