etherlabmaster: lib/master.c@e25af8bd3957 (annotated)

2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	1	/*****************************************************************************
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	2	*
2246 6f5bfbcc2010 Minor: Line wrapping. Florian Pose <fp@igh-essen.com> parents: 2150 diff changeset	3	* $Id$
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	4	*
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	5	* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	6	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	7	* This file is part of the IgH EtherCAT master userspace library.
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	9	* The IgH EtherCAT master userspace library is free software; you can
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	10	* redistribute it and/or modify it under the terms of the GNU Lesser General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	11	* Public License as published by the Free Software Foundation; version 2.1
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	12	* of the License.
1287 cc7b679c74e9 Improved LGPL headers. Florian Pose <fp@igh-essen.com> parents: 1266 diff changeset	13	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	14	* The IgH EtherCAT master userspace library is distributed in the hope that
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	15	* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	16	* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	17	* GNU Lesser General Public License for more details.
1287 cc7b679c74e9 Improved LGPL headers. Florian Pose <fp@igh-essen.com> parents: 1266 diff changeset	18	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	19	* You should have received a copy of the GNU Lesser General Public License
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	20	* along with the IgH EtherCAT master userspace library. If not, see
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	21	* <http://www.gnu.org/licenses/>.
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	22	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	23	* ---
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	24	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	25	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	26	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1341 diff changeset	27	* industrial property and similar rights of Beckhoff Automation GmbH.
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	29	****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	30
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	31	#include <unistd.h> /* close() */
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <stdlib.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include <stdio.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include <errno.h>
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include <string.h>
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	36	#include <sys/mman.h>
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	38	#include "ioctl.h"
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "master.h"
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "domain.h"
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	41	#include "slave_config.h"
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	42
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	43	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	45	int ecrt_master_reserve(ec_master_t *master)
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	46	{
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	47	int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	48	if (EC_IOCTL_IS_ERROR(ret)) {
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	49	fprintf(stderr, "Failed to reserve master: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	50	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	51	return -EC_IOCTL_ERRNO(ret);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	52	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	53	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	54	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	55
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	56	/****************************************************************************/
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	57
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	58	void ec_master_clear_config(ec_master_t *master)
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	59	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	60	ec_domain_t d, next_d;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	61	ec_slave_config_t c, next_c;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	62
2616 f99e5b11806c Moved userspace domain unmap to deactivate instead of release, fixing memory/ref leak. Gavin Lambert <gavinl@compacsort.com> parents: 2589 diff changeset	63	if (master->process_data) {
f99e5b11806c Moved userspace domain unmap to deactivate instead of release, fixing memory/ref leak. Gavin Lambert <gavinl@compacsort.com> parents: 2589 diff changeset	64	munmap(master->process_data, master->process_data_size);
f99e5b11806c Moved userspace domain unmap to deactivate instead of release, fixing memory/ref leak. Gavin Lambert <gavinl@compacsort.com> parents: 2589 diff changeset	65	master->process_data = NULL;
f99e5b11806c Moved userspace domain unmap to deactivate instead of release, fixing memory/ref leak. Gavin Lambert <gavinl@compacsort.com> parents: 2589 diff changeset	66	}
f99e5b11806c Moved userspace domain unmap to deactivate instead of release, fixing memory/ref leak. Gavin Lambert <gavinl@compacsort.com> parents: 2589 diff changeset	67
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	68	d = master->first_domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	69	while (d) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	70	next_d = d->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	71	ec_domain_clear(d);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	72	d = next_d;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	73	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	74	master->first_domain = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	75
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	76	c = master->first_config;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	77	while (c) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	78	next_c = c->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	79	ec_slave_config_clear(c);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	80	c = next_c;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	81	}
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	82	master->first_config = NULL;
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	83	}
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	84
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	85	/****************************************************************************/
1960 6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	86
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	87	void ec_master_clear(ec_master_t *master)
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	88	{
6c4269dca1c2 Clear configuration on deactivation; also in userspace. Florian Pose <fp@igh-essen.com> parents: 1959 diff changeset	89	ec_master_clear_config(master);
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	90
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	91	if (master->fd != -1) {
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	92	#if USE_RTDM
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	93	rt_dev_close(master->fd);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	94	#else
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	95	close(master->fd);
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	96	#endif
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	97	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	98	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	99
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	100	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	101
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	102	void ec_master_add_domain(ec_master_t master, ec_domain_t domain)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	103	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	104	if (master->first_domain) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	105	ec_domain_t *d = master->first_domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	106	while (d->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	107	d = d->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	108	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	109	d->next = domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	110	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	111	master->first_domain = domain;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	112	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	113	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	114
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	115	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	116
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	ec_domain_t ecrt_master_create_domain(ec_master_t master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	{
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	ec_domain_t *domain;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	int index;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	121
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	domain = malloc(sizeof(ec_domain_t));
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	if (!domain) {
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	fprintf(stderr, "Failed to allocate memory.\n");
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	return 0;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	}
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	127
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	129	if (EC_IOCTL_IS_ERROR(index)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	130	fprintf(stderr, "Failed to create domain: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	131	strerror(EC_IOCTL_ERRNO(index)));
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	free(domain);
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	133	return 0;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	135
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	136	domain->next = NULL;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	domain->index = (unsigned int) index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	138	domain->master = master;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	139	domain->process_data = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	140
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	141	ec_master_add_domain(master, domain);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	142
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	return domain;
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	145
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	146	/****************************************************************************/
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	147
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	148	void ec_master_add_slave_config(ec_master_t master, ec_slave_config_t sc)
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	149	{
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	150	if (master->first_config) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	151	ec_slave_config_t *c = master->first_config;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	152	while (c->next) {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	153	c = c->next;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	154	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	155	c->next = sc;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	156	} else {
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	157	master->first_config = sc;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	158	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	159	}
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	160
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	161	/****************************************************************************/
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	162
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	ec_slave_config_t ecrt_master_slave_config(ec_master_t master,
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	uint16_t alias, uint16_t position, uint32_t vendor_id,
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	uint32_t product_code)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	{
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	167	ec_ioctl_config_t data;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	168	ec_slave_config_t *sc;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	169	int ret;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	170
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	171	sc = malloc(sizeof(ec_slave_config_t));
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	172	if (!sc) {
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	173	fprintf(stderr, "Failed to allocate memory.\n");
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	174	return 0;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	175	}
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	176
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	177	data.alias = alias;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	178	data.position = position;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	179	data.vendor_id = vendor_id;
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	180	data.product_code = product_code;
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	181
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	182	ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	183	if (EC_IOCTL_IS_ERROR(ret)) {
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	184	fprintf(stderr, "Failed to create slave config: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	185	strerror(EC_IOCTL_ERRNO(ret)));
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	186	free(sc);
1982 7421bca39b6d Insert port information into slave info. Stefan Weiser <ch1010858@ch10pc584> parents: 1980 diff changeset	187	return 0;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	188	}
4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	189
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	190	sc->next = NULL;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	191	sc->master = master;
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	192	sc->index = data.config_index;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	193	sc->alias = alias;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: 1247 diff changeset	194	sc->position = position;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	195	sc->first_sdo_request = NULL;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	196	sc->first_reg_request = NULL;
1959 656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	197	sc->first_voe_handler = NULL;
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	198
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	199	ec_master_add_slave_config(master, sc);
656f114153c2 Free all userspace library objects on releasing master. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	200
1246 4042bda8c980 Creating slave configurations. Florian Pose <fp@igh-essen.com> parents: 1244 diff changeset	201	return sc;
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	203
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	205
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	206	int ecrt_master_select_reference_clock(ec_master_t *master,
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	207	ec_slave_config_t *sc)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	208	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	209	uint32_t config_index;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	210	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	211
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	212	if (sc) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	213	config_index = sc->index;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	214	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	215	else {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	216	config_index = 0xFFFFFFFF;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	217	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	218
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	219	ret = ioctl(master->fd, EC_IOCTL_SELECT_REF_CLOCK, config_index);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	220	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	221	fprintf(stderr, "Failed to select reference clock: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	222	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	223	return -EC_IOCTL_ERRNO(ret);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	224	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	225
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	226	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	227	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	228
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	229	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	230
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	231	int ecrt_master(ec_master_t master, ec_master_info_t master_info)
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	232	{
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	233	ec_ioctl_master_t data;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	234	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	235
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	236	ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	237	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	238	fprintf(stderr, "Failed to get master info: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	239	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	240	return -EC_IOCTL_ERRNO(ret);
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	241	}
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	242
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	243	master_info->slave_count = data.slave_count;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	244	master_info->link_up = data.devices[0].link_state;
1579 326d47aa986c applied komax patch to version r1822 Martin Troxler <martin.troxler@komaxgroup.com> parents: 1510 diff changeset	245	master_info->scan_busy = data.scan_busy;
1508 60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	246	master_info->app_time = data.app_time;
60a116ed3897 Removed more tabulators. Florian Pose <fp@igh-essen.com> parents: 1497 diff changeset	247	return 0;
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	248	}
c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	249
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	250	/****************************************************************************/
1497 c9308eb34c0e Separated master requesting into open and reserve for userspace library. Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	251
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	252	int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	253	ec_slave_info_t *slave_info)
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	254	{
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	255	ec_ioctl_slave_t data;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	256	int ret, i;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	257
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	258	data.position = slave_position;
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	259
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	260	ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	261	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	262	fprintf(stderr, "Failed to get slave info: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	263	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	264	return -EC_IOCTL_ERRNO(ret);
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	265	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	266
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	267	slave_info->position = data.position;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	268	slave_info->vendor_id = data.vendor_id;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	269	slave_info->product_code = data.product_code;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	270	slave_info->revision_number = data.revision_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	271	slave_info->serial_number = data.serial_number;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	272	slave_info->alias = data.alias;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	273	slave_info->current_on_ebus = data.current_on_ebus;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	274	for (i = 0; i < EC_MAX_PORTS; i++) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	275	slave_info->ports[i].desc = data.ports[i].desc;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	276	slave_info->ports[i].link.link_up = data.ports[i].link.link_up;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	277	slave_info->ports[i].link.loop_closed =
2246 6f5bfbcc2010 Minor: Line wrapping. Florian Pose <fp@igh-essen.com> parents: 2150 diff changeset	278	data.ports[i].link.loop_closed;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	279	slave_info->ports[i].link.signal_detected =
2246 6f5bfbcc2010 Minor: Line wrapping. Florian Pose <fp@igh-essen.com> parents: 2150 diff changeset	280	data.ports[i].link.signal_detected;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	281	slave_info->ports[i].receive_time = data.ports[i].receive_time;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	282	slave_info->ports[i].next_slave = data.ports[i].next_slave;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	283	slave_info->ports[i].delay_to_next_dc =
2246 6f5bfbcc2010 Minor: Line wrapping. Florian Pose <fp@igh-essen.com> parents: 2150 diff changeset	284	data.ports[i].delay_to_next_dc;
1983 df270de292e1 Fixed copying port information. Stefan Weiser <ch1010858@ch10pc584> parents: 1982 diff changeset	285	}
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	286	slave_info->al_state = data.al_state;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	287	slave_info->error_flag = data.error_flag;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	288	slave_info->sync_count = data.sync_count;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	289	slave_info->sdo_count = data.sdo_count;
1593 fb8337e664fb Fixed string length constant bug. Florian Pose <fp@igh-essen.com> parents: 1585 diff changeset	290	strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	291	return 0;
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	292	}
32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	293
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	294	/****************************************************************************/
1341 32ba7ffb6c7f Added ecrt_master_slave(). Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	295
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	296	int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	297	uint8_t sync_index, ec_sync_info_t *sync)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	298	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	299	ec_ioctl_slave_sync_t data;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	300	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	301
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	302	if (sync_index >= EC_MAX_SYNC_MANAGERS) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	303	return -ENOENT;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	304	}
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	305
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	306	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	307	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	308	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	309
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	310	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	311	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	312	fprintf(stderr, "Failed to get sync manager information: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	313	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	314	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	315	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	316
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	317	sync->index = sync_index;
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	318	sync->dir = EC_READ_BIT(&data.control_register, 2) ?
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	319	EC_DIR_OUTPUT : EC_DIR_INPUT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	320	sync->n_pdos = data.pdo_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	321	sync->pdos = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	322	sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	323	EC_WD_ENABLE : EC_WD_DISABLE;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	324
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	325	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	326	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	327
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	328	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	329
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	330	int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	331	uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	332	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	333	ec_ioctl_slave_sync_pdo_t data;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	334	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	335
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	336	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	337	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	338
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	339	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	340	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	341	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	342	data.pdo_pos = pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	343
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	344	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	345	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	346	fprintf(stderr, "Failed to get pdo information: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	347	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	348	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	349	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	350
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	351	pdo->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	352	pdo->n_entries = data.entry_count;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	353	pdo->entries = NULL;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	354
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	355	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	356	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	357
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	358	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	359
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	360	int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	361	uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	362	ec_pdo_entry_info_t *entry)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	363	{
1804 742607c464c4 Removed tabulators. Florian Pose <fp@igh-essen.com> parents: 1611 diff changeset	364	ec_ioctl_slave_sync_pdo_entry_t data;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	365	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	366
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	367	if (sync_index >= EC_MAX_SYNC_MANAGERS)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	368	return -ENOENT;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	369
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	370	memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	371	data.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	372	data.sync_index = sync_index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	373	data.pdo_pos = pdo_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	374	data.entry_pos = entry_pos;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	375
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	376	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	377	if (EC_IOCTL_IS_ERROR(ret)) {
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	378	fprintf(stderr, "Failed to get pdo entry information: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	379	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	380	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	381	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	382
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	383	entry->index = data.index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	384	entry->subindex = data.subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	385	entry->bit_length = data.bit_length;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	386
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	387	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	388	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	389
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	390	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	391
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	392	int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
2622 1aee02c1e294 Mark download data as const. Gavin Lambert <uecasm@users.sourceforge.net> parents: 2618 diff changeset	393	uint16_t index, uint8_t subindex, const uint8_t *data,
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	394	size_t data_size, uint32_t *abort_code)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	395	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	396	ec_ioctl_slave_sdo_download_t download;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	397	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	398
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	399	download.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	400	download.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	401	download.sdo_entry_subindex = subindex;
2150 5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	402	download.complete_access = 0;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	403	download.data_size = data_size;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	404	download.data = data;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	405
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	406	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	407	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	408	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
2150 5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	409	*abort_code = download.abort_code;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	410	}
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	411	fprintf(stderr, "Failed to execute SDO download: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	412	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	413	return -EC_IOCTL_ERRNO(ret);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	414	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	415
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	416	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	417	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	418
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	419	/****************************************************************************/
2150 5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	420
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	421	int ecrt_master_sdo_download_complete(ec_master_t *master,
2622 1aee02c1e294 Mark download data as const. Gavin Lambert <uecasm@users.sourceforge.net> parents: 2618 diff changeset	422	uint16_t slave_position, uint16_t index, const uint8_t *data,
2150 5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	423	size_t data_size, uint32_t *abort_code)
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	424	{
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	425	ec_ioctl_slave_sdo_download_t download;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	426	int ret;
2150 5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	427
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	428	download.slave_position = slave_position;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	429	download.sdo_index = index;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	430	download.sdo_entry_subindex = 0;
5144a4bc6184 Added ecrt_master_sdo_download_complete() for ad-hoc downloading SDOs (also Florian Pose <fp@igh-essen.com> parents: 2066 diff changeset	431	download.complete_access = 1;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	432	download.data_size = data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	433	download.data = data;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	434
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	435	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	436	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	437	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
1911 460baca4df83 Fixed errno usage in user library. Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	438	*abort_code = download.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	439	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	440	fprintf(stderr, "Failed to execute SDO download: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	441	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	442	return -EC_IOCTL_ERRNO(ret);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	443	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	444
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	445	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	446	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	447
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	448	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	449
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	450	int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	451	uint16_t index, uint8_t subindex, uint8_t *target,
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	452	size_t target_size, size_t result_size, uint32_t abort_code)
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	453	{
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	454	ec_ioctl_slave_sdo_upload_t upload;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	455	int ret;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	456
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	457	upload.slave_position = slave_position;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	458	upload.sdo_index = index;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	459	upload.sdo_entry_subindex = subindex;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	460	upload.target_size = target_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	461	upload.target = target;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	462
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	463	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	464	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	465	if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
1911 460baca4df83 Fixed errno usage in user library. Florian Pose <fp@igh-essen.com> parents: 1804 diff changeset	466	*abort_code = upload.abort_code;
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	467	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	468	fprintf(stderr, "Failed to execute SDO upload: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	469	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	470	return -EC_IOCTL_ERRNO(ret);
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	471	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	472
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	473	*result_size = upload.data_size;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	474	return 0;
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	475	}
88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	476
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	477	/****************************************************************************/
1510 88b608a1a7f3 Improved bus information API. Florian Pose <fp@igh-essen.com> parents: 1508 diff changeset	478
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	479	int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	480	uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	481	uint16_t *error_code)
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	482	{
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	483	ec_ioctl_slave_soe_write_t io;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	484	int ret;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	485
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	486	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	487	io.drive_no = drive_no;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	488	io.idn = idn;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	489	io.data_size = data_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	490	io.data = data;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	491
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	492	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	493	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	494	if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	495	*error_code = io.error_code;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	496	}
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	497	fprintf(stderr, "Failed to write IDN: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	498	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	499	return -EC_IOCTL_ERRNO(ret);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	500	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	501
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	502	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	503	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	504
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	505	/****************************************************************************/
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	506
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	507	int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	508	uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
1947 024a3c6aa3f7 Implemented ecrt_master_read_idn() and ecrt_master_write_idn() in kernel space. Florian Pose <fp@igh-essen.com> parents: 1913 diff changeset	509	size_t result_size, uint16_t error_code)
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	510	{
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	511	ec_ioctl_slave_soe_read_t io;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	512	int ret;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	513
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	514	io.slave_position = slave_position;
1952 7d9fb723fc4b Added drive_no parameter to SoE layer. Florian Pose <fp@igh-essen.com> parents: 1947 diff changeset	515	io.drive_no = drive_no;
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	516	io.idn = idn;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	517	io.mem_size = target_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	518	io.data = target;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	519
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	520	ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	521	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	522	if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	523	*error_code = io.error_code;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	524	}
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	525	fprintf(stderr, "Failed to read IDN: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	526	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	527	return -EC_IOCTL_ERRNO(ret);
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	528	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	529
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	530	*result_size = io.data_size;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	531	return 0;
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	532	}
cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	533
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	534	/****************************************************************************/
1913 cbef34ba142b Added ecrt_master_read_idn() and ecrt_master_write_idn() to read/write SoE Florian Pose <fp@igh-essen.com> parents: 1911 diff changeset	535
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	536	int ecrt_master_activate(ec_master_t *master)
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	537	{
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	538	ec_ioctl_master_activate_t io;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	539	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	540
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	541	ret = ioctl(master->fd, EC_IOCTL_ACTIVATE, &io);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	542	if (EC_IOCTL_IS_ERROR(ret)) {
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	543	fprintf(stderr, "Failed to activate master: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	544	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	545	return -EC_IOCTL_ERRNO(ret);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	546	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	547
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	548	master->process_data_size = io.process_data_size;
1247 5f1f1a3e6636 Activate, Send and received; cyclic timer with setitimer(). Florian Pose <fp@igh-essen.com> parents: 1246 diff changeset	549
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	550	if (master->process_data_size) {
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	551	#ifdef USE_RTDM
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	552	/* memory-mapping was already done in kernel. The user-space addess is
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	553	* provided in the ioctl data.
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	554	*/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	555	master->process_data = io.process_data;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	556	#else
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	557	master->process_data = mmap(0, master->process_data_size,
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	558	PROT_READ \| PROT_WRITE, MAP_SHARED, master->fd, 0);
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	559	if (master->process_data == MAP_FAILED) {
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	560	fprintf(stderr, "Failed to map process data: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	561	strerror(errno));
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	562	master->process_data = NULL;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	563	master->process_data_size = 0;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	564	return -errno;
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	565	}
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	566	#endif
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	567
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	568	// Access the mapped region to cause the initial page fault
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	569	master->process_data[0] = 0x00;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	570	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	571
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	572	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	573	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	574
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	575	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	576
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	577	void ecrt_master_deactivate(ec_master_t *master)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	578	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	579	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	580
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	581	ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	582	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	583	fprintf(stderr, "Failed to deactivate master: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	584	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	585	return;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	586	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	587
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	588	ec_master_clear_config(master);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	589	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	590
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	591	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	592
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	593	int ecrt_master_set_send_interval(ec_master_t *master,
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	594	size_t send_interval_us)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	595	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	596	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	597
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	598	ret = ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, &send_interval_us);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	599	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	600	fprintf(stderr, "Failed to set send interval: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	601	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	602	return -EC_IOCTL_ERRNO(ret);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	603	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	604
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	605	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	606	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	607
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	608	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	609
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	610	void ecrt_master_send(ec_master_t *master)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	611	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	612	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	613
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	614	ret = ioctl(master->fd, EC_IOCTL_SEND, NULL);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	615	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	616	fprintf(stderr, "Failed to send: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	617	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	618	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	619	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	620
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	621	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	622
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	623	void ecrt_master_receive(ec_master_t *master)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	624	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	625	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	626
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	627	ret = ioctl(master->fd, EC_IOCTL_RECEIVE, NULL);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	628	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	629	fprintf(stderr, "Failed to receive: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	630	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	631	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	632	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	633
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	634	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	635
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	636	void ecrt_master_state(const ec_master_t master, ec_master_state_t state)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	637	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	638	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	639
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	640	ret = ioctl(master->fd, EC_IOCTL_MASTER_STATE, state);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	641	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	642	fprintf(stderr, "Failed to get master state: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	643	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	644	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	645	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	646
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	647	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	648
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	649	int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx,
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	650	ec_master_link_state_t *state)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	651	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	652	ec_ioctl_link_state_t io;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	653	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	654
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	655	io.dev_idx = dev_idx;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	656	io.state = state;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	657
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	658	ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	659	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	660	fprintf(stderr, "Failed to get link state: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	661	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	662	return -EC_IOCTL_ERRNO(ret);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	663	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	664
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	665	return 0;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	666	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	667
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	668	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	669
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	670	void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	671	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	672	ec_ioctl_app_time_t data;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	673	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	674
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	675	data.app_time = app_time;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	676
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	677	ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &data);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	678	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	679	fprintf(stderr, "Failed to set application time: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	680	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	681	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	682	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	683
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	684	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	685
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	686	void ecrt_master_sync_reference_clock(ec_master_t *master)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	687	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	688	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	689
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	690	ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	691	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	692	fprintf(stderr, "Failed to sync reference clock: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	693	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	694	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	695	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	696
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	697	/****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	698
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	699	void ecrt_master_sync_slave_clocks(ec_master_t *master)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	700	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	701	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	702
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	703	ret = ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	704	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	705	fprintf(stderr, "Failed to sync slave clocks: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	706	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	707	}
1244 0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	708	}
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	709
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	710	/*****************************************************************************/
0b70040d3daa No kernel handles in userspace; Domain creation. Florian Pose <fp@igh-essen.com> parents: diff changeset	711
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	712	int ecrt_master_reference_clock_time(ec_master_t master, uint32_t time)
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	713	{
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	714	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	715
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	716	ret = ioctl(master->fd, EC_IOCTL_REF_CLOCK_TIME, time);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	717	if (EC_IOCTL_IS_ERROR(ret)) {
2618 3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	718	ret = EC_IOCTL_ERRNO(ret);
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	719	if (ret != EIO && ret != ENXIO) {
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	720	// do not log if no refclk or no refclk time yet
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	721	fprintf(stderr, "Failed to get reference clock time: %s\n",
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	722	strerror(ret));
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	723	}
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	724	return -ret;
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	725	}
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	726
3affe9cd0b66 Ignore NXIO error otherwise this causes spam if network is empty or refclk not Gavin Lambert <gavinl@compacsort.com> parents: 2616 diff changeset	727	return 0;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	728	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	729
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	730	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	731
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	732	void ecrt_master_sync_monitor_queue(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	733	{
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	734	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	735
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	736	ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	737	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	738	fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	739	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	740	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	741	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	742
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	743	/****************************************************************************/
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	744
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	745	uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	746	{
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	747	uint32_t time_diff;
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	748	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	749
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	750	ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	751	if (EC_IOCTL_IS_ERROR(ret)) {
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	752	time_diff = 0xffffffff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	753	fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	754	strerror(EC_IOCTL_ERRNO(ret)));
1535 0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	755	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	756
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	757	return time_diff;
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	758	}
0c484ee12d89 DC synchrony monitoring methods. Florian Pose <fp@igh-essen.com> parents: 1531 diff changeset	759
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	760	/****************************************************************************/
2009 b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	761
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	762	void ecrt_master_reset(ec_master_t *master)
b5391b329b5d Added ecrt_master_reset() method. Florian Pose <fp@igh-essen.com> parents: 1975 diff changeset	763	{
2589 2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	764	int ret;
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	765
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	766	ret = ioctl(master->fd, EC_IOCTL_RESET, NULL);
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	767	if (EC_IOCTL_IS_ERROR(ret)) {
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	768	fprintf(stderr, "Failed to reset master: %s\n",
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	769	strerror(EC_IOCTL_ERRNO(ret)));
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	770	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	771	}
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	772
2b9c78543663 Reverted default branch to stable-1.5. Florian Pose <fp@igh-essen.com> parents: 2246 diff changeset	773	/****************************************************************************/

author	Knud Baastrup <kba@deif.com>
	Tue, 14 Apr 2015 10:12:55 -0400
changeset 2625	e25af8bd3957
parent 2622	1aee02c1e294
child 2630	a380cce7d6f0
permissions	-rw-r--r--