author | Florian Pose <fp@igh-essen.com> |
Thu, 15 Apr 2010 20:53:46 +0200 | |
changeset 1898 | ecfc3f747a3b |
parent 1804 | 742607c464c4 |
child 1911 | 460baca4df83 |
child 1978 | d9b6e641eaeb |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT master userspace library. |
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* |
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* The IgH EtherCAT master userspace library is free software; you can |
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* redistribute it and/or modify it under the terms of the GNU Lesser General |
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* Public License as published by the Free Software Foundation; version 2.1 |
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* of the License. |
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* |
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* The IgH EtherCAT master userspace library is distributed in the hope that |
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* it will be useful, but WITHOUT ANY WARRANTY; without even the implied |
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public License |
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* along with the IgH EtherCAT master userspace library. If not, see |
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* <http://www.gnu.org/licenses/>. |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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|
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#include <stdlib.h> |
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#include <sys/ioctl.h> |
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#include <stdio.h> |
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#include <errno.h> |
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#include <string.h> |
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#include <sys/mman.h> |
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|
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#include "master.h" |
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#include "domain.h" |
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#include "slave_config.h" |
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#include "master/ioctl.h" |
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/*****************************************************************************/ |
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int ecrt_master_reserve(ec_master_t *master) |
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{ |
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if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) { |
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fprintf(stderr, "Failed to reserve master: %s\n", |
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strerror(errno)); |
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return -1; |
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} |
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} |
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/*****************************************************************************/ |
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ec_domain_t *ecrt_master_create_domain(ec_master_t *master) |
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{ |
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ec_domain_t *domain; |
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int index; |
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|
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domain = malloc(sizeof(ec_domain_t)); |
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if (!domain) { |
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fprintf(stderr, "Failed to allocate memory.\n"); |
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return 0; |
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} |
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|
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index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL); |
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if (index == -1) { |
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fprintf(stderr, "Failed to create domain: %s\n", strerror(errno)); |
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free(domain); |
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return 0; |
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} |
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|
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domain->index = (unsigned int) index; |
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domain->master = master; |
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domain->process_data = NULL; |
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return domain; |
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} |
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|
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/*****************************************************************************/ |
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|
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ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master, |
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uint16_t alias, uint16_t position, uint32_t vendor_id, |
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uint32_t product_code) |
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{ |
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ec_ioctl_config_t data; |
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ec_slave_config_t *sc; |
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int index; |
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|
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sc = malloc(sizeof(ec_slave_config_t)); |
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if (!sc) { |
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fprintf(stderr, "Failed to allocate memory.\n"); |
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return 0; |
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} |
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|
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data.alias = alias; |
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data.position = position; |
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data.vendor_id = vendor_id; |
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data.product_code = product_code; |
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|
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if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) { |
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102 |
fprintf(stderr, "Failed to create slave config: %s\n", |
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103 |
strerror(errno)); |
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104 |
free(sc); |
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105 |
return 0; |
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106 |
} |
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|
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108 |
sc->master = master; |
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sc->index = data.config_index; |
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sc->alias = alias; |
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111 |
sc->position = position; |
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112 |
return sc; |
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113 |
} |
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/*****************************************************************************/ |
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116 |
|
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117 |
int ecrt_master(ec_master_t* master, ec_master_info_t *master_info) |
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|
118 |
{ |
1508 | 119 |
ec_ioctl_master_t data; |
120 |
||
121 |
if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) { |
|
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|
122 |
fprintf(stderr, "Failed to get master info: %s\n", strerror(errno)); |
1508 | 123 |
return -1; |
124 |
} |
|
125 |
||
126 |
master_info->slave_count = data.slave_count; |
|
127 |
master_info->link_up = data.devices[0].link_state; |
|
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|
128 |
master_info->scan_busy = data.scan_busy; |
1508 | 129 |
master_info->app_time = data.app_time; |
130 |
return 0; |
|
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131 |
} |
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Separated master requesting into open and reserve for userspace library.
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|
132 |
|
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|
133 |
/*****************************************************************************/ |
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Separated master requesting into open and reserve for userspace library.
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|
134 |
|
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|
135 |
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position, |
1341
32ba7ffb6c7f
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|
136 |
ec_slave_info_t *slave_info) |
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Added ecrt_master_slave().
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|
137 |
{ |
32ba7ffb6c7f
Added ecrt_master_slave().
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|
138 |
ec_ioctl_slave_t data; |
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Added ecrt_master_slave().
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|
139 |
int index; |
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Added ecrt_master_slave().
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|
140 |
|
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Improved bus information API.
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|
141 |
data.position = slave_position; |
1341
32ba7ffb6c7f
Added ecrt_master_slave().
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changeset
|
142 |
|
32ba7ffb6c7f
Added ecrt_master_slave().
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|
143 |
if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) { |
1497
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|
144 |
fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno)); |
1341
32ba7ffb6c7f
Added ecrt_master_slave().
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|
145 |
return -1; |
32ba7ffb6c7f
Added ecrt_master_slave().
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changeset
|
146 |
} |
32ba7ffb6c7f
Added ecrt_master_slave().
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changeset
|
147 |
|
32ba7ffb6c7f
Added ecrt_master_slave().
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changeset
|
148 |
slave_info->position = data.position; |
32ba7ffb6c7f
Added ecrt_master_slave().
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changeset
|
149 |
slave_info->vendor_id = data.vendor_id; |
32ba7ffb6c7f
Added ecrt_master_slave().
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diff
changeset
|
150 |
slave_info->product_code = data.product_code; |
32ba7ffb6c7f
Added ecrt_master_slave().
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diff
changeset
|
151 |
slave_info->revision_number = data.revision_number; |
32ba7ffb6c7f
Added ecrt_master_slave().
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changeset
|
152 |
slave_info->serial_number = data.serial_number; |
32ba7ffb6c7f
Added ecrt_master_slave().
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diff
changeset
|
153 |
slave_info->alias = data.alias; |
32ba7ffb6c7f
Added ecrt_master_slave().
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diff
changeset
|
154 |
slave_info->current_on_ebus = data.current_on_ebus; |
32ba7ffb6c7f
Added ecrt_master_slave().
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parents:
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diff
changeset
|
155 |
slave_info->al_state = data.al_state; |
32ba7ffb6c7f
Added ecrt_master_slave().
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parents:
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diff
changeset
|
156 |
slave_info->error_flag = data.error_flag; |
32ba7ffb6c7f
Added ecrt_master_slave().
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parents:
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diff
changeset
|
157 |
slave_info->sync_count = data.sync_count; |
32ba7ffb6c7f
Added ecrt_master_slave().
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
158 |
slave_info->sdo_count = data.sdo_count; |
1593
fb8337e664fb
Fixed string length constant bug.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
159 |
strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH); |
1341
32ba7ffb6c7f
Added ecrt_master_slave().
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diff
changeset
|
160 |
return 0; |
32ba7ffb6c7f
Added ecrt_master_slave().
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parents:
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diff
changeset
|
161 |
} |
32ba7ffb6c7f
Added ecrt_master_slave().
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parents:
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diff
changeset
|
162 |
|
32ba7ffb6c7f
Added ecrt_master_slave().
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parents:
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diff
changeset
|
163 |
/*****************************************************************************/ |
32ba7ffb6c7f
Added ecrt_master_slave().
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parents:
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diff
changeset
|
164 |
|
1510
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Improved bus information API.
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parents:
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diff
changeset
|
165 |
int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position, |
88b608a1a7f3
Improved bus information API.
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parents:
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diff
changeset
|
166 |
uint8_t sync_index, ec_sync_info_t *sync) |
88b608a1a7f3
Improved bus information API.
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parents:
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diff
changeset
|
167 |
{ |
1804 | 168 |
ec_ioctl_slave_sync_t data; |
1510
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Improved bus information API.
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parents:
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changeset
|
169 |
|
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Improved bus information API.
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diff
changeset
|
170 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) |
88b608a1a7f3
Improved bus information API.
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diff
changeset
|
171 |
return -ENOENT; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
172 |
|
88b608a1a7f3
Improved bus information API.
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parents:
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diff
changeset
|
173 |
memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t)); |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
174 |
data.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
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parents:
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changeset
|
175 |
data.sync_index = sync_index; |
88b608a1a7f3
Improved bus information API.
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parents:
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diff
changeset
|
176 |
|
88b608a1a7f3
Improved bus information API.
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parents:
1508
diff
changeset
|
177 |
if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data) == -1) { |
88b608a1a7f3
Improved bus information API.
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parents:
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diff
changeset
|
178 |
fprintf(stderr, "Failed to get sync manager information: %s\n", |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
179 |
strerror(errno)); |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
180 |
return -1; // FIXME |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
181 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
182 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
183 |
sync->index = sync_index; |
1804 | 184 |
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
|
185 |
EC_DIR_OUTPUT : EC_DIR_INPUT; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
186 |
sync->n_pdos = data.pdo_count; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
187 |
sync->pdos = NULL; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
188 |
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
|
189 |
EC_WD_ENABLE : EC_WD_DISABLE; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
190 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
191 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
192 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
193 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
194 |
/*****************************************************************************/ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
195 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
196 |
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
|
197 |
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
|
198 |
{ |
1804 | 199 |
ec_ioctl_slave_sync_pdo_t data; |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
200 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
201 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
202 |
return -ENOENT; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
203 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
204 |
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
|
205 |
data.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
206 |
data.sync_index = sync_index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
207 |
data.pdo_pos = pos; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
208 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
209 |
if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data) == -1) { |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
210 |
fprintf(stderr, "Failed to get pdo information: %s\n", |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
211 |
strerror(errno)); |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
212 |
return -1; // FIXME |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
213 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
214 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
215 |
pdo->index = data.index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
216 |
pdo->n_entries = data.entry_count; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
217 |
pdo->entries = NULL; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
218 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
219 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
220 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
221 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
222 |
/*****************************************************************************/ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
223 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
224 |
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
|
225 |
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
|
226 |
ec_pdo_entry_info_t *entry) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
227 |
{ |
1804 | 228 |
ec_ioctl_slave_sync_pdo_entry_t data; |
1510
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
229 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
230 |
if (sync_index >= EC_MAX_SYNC_MANAGERS) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
231 |
return -ENOENT; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
232 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
233 |
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
|
234 |
data.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
235 |
data.sync_index = sync_index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
236 |
data.pdo_pos = pdo_pos; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
237 |
data.entry_pos = entry_pos; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
238 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
239 |
if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data) == -1) { |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
240 |
fprintf(stderr, "Failed to get pdo entry information: %s\n", |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
241 |
strerror(errno)); |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
242 |
return -1; // FIXME |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
243 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
244 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
245 |
entry->index = data.index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
246 |
entry->subindex = data.subindex; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
247 |
entry->bit_length = data.bit_length; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
248 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
249 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
250 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
251 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
252 |
/*****************************************************************************/ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
253 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
254 |
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position, |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
255 |
uint16_t index, uint8_t subindex, uint8_t *data, |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
256 |
size_t data_size, uint32_t *abort_code) |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
257 |
{ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
258 |
ec_ioctl_slave_sdo_download_t download; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
259 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
260 |
download.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
261 |
download.sdo_index = index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
262 |
download.sdo_entry_subindex = subindex; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
263 |
download.data_size = data_size; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
264 |
download.data = data; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
265 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
266 |
if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) { |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
267 |
if (errno == -EIO) { |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
268 |
if (abort_code) { |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
269 |
*abort_code = download.abort_code; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
270 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
271 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
272 |
fprintf(stderr, "Failed to execute SDO download: %s\n", |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
273 |
strerror(errno)); |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
274 |
return -1; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
275 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
276 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
277 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
278 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
279 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
280 |
/*****************************************************************************/ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
281 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
282 |
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
|
283 |
uint16_t index, uint8_t subindex, uint8_t *target, |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
284 |
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
|
285 |
{ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
286 |
ec_ioctl_slave_sdo_upload_t upload; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
287 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
288 |
upload.slave_position = slave_position; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
289 |
upload.sdo_index = index; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
290 |
upload.sdo_entry_subindex = subindex; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
291 |
upload.target_size = target_size; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
292 |
upload.target = target; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
293 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
294 |
if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) { |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
295 |
if (errno == -EIO) { |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
296 |
if (abort_code) { |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
297 |
*abort_code = upload.abort_code; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
298 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
299 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
300 |
fprintf(stderr, "Failed to execute SDO upload: %s\n", |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
301 |
strerror(errno)); |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
302 |
return -1; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
303 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
304 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
305 |
*result_size = upload.data_size; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
306 |
return 0; |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
307 |
} |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
308 |
|
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
309 |
/*****************************************************************************/ |
88b608a1a7f3
Improved bus information API.
Florian Pose <fp@igh-essen.com>
parents:
1508
diff
changeset
|
310 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
311 |
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
|
312 |
{ |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
313 |
if (ioctl(master->fd, EC_IOCTL_ACTIVATE, |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
314 |
&master->process_data_size) == -1) { |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
315 |
fprintf(stderr, "Failed to activate master: %s\n", |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
316 |
strerror(errno)); |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
317 |
return -1; // FIXME |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
318 |
} |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
319 |
|
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
320 |
if (master->process_data_size) { |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
321 |
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
|
322 |
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
|
323 |
if (master->process_data == MAP_FAILED) { |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
324 |
fprintf(stderr, "Failed to map process data: %s", strerror(errno)); |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
325 |
master->process_data = NULL; |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
326 |
master->process_data_size = 0; |
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1287
diff
changeset
|
327 |
return -1; // FIXME |
1258
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
328 |
} |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
329 |
|
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
330 |
// Access the mapped region to cause the initial page fault |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
331 |
printf("pd: %x\n", master->process_data[0]); |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
332 |
} |
900f1124e8f8
Memory-mapped process data.
Florian Pose <fp@igh-essen.com>
parents:
1255
diff
changeset
|
333 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
return 0; |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
/*****************************************************************************/ |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
|
1531
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
339 |
void ecrt_master_deactivate(ec_master_t *master) |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
340 |
{ |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
341 |
if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) { |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
342 |
fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno)); |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
343 |
return; |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
344 |
} |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
345 |
} |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
346 |
|
1585
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
347 |
|
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
348 |
/*****************************************************************************/ |
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
349 |
|
1600
e36c92cf58a9
use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1585
diff
changeset
|
350 |
int ecrt_master_set_send_interval(ec_master_t *master,size_t send_interval_us) |
e36c92cf58a9
use given send interval to limit SDO/FOE traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1585
diff
changeset
|
351 |
{ |
1804 | 352 |
if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, |
353 |
&send_interval_us) == -1) { |
|
354 |
fprintf(stderr, "Failed to set send interval: %s\n", |
|
1585
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
355 |
strerror(errno)); |
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
356 |
return -1; // FIXME |
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
357 |
} |
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
358 |
return 0; |
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
359 |
} |
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
360 |
|
1f640e321ee4
ecrt_master_set_max_cycle_size: limit SDO traffic
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1580
diff
changeset
|
361 |
|
1531
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
362 |
/*****************************************************************************/ |
6c5478400e28
Implemented ecrt_master_deactivate() in userspace.
Florian Pose <fp@igh-essen.com>
parents:
1510
diff
changeset
|
363 |
|
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
void ecrt_master_send(ec_master_t *master) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
{ |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
366 |
if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) { |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
367 |
fprintf(stderr, "Failed to send: %s\n", strerror(errno)); |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
368 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
371 |
/*****************************************************************************/ |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
372 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
373 |
void ecrt_master_receive(ec_master_t *master) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
374 |
{ |
1247
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
375 |
if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) { |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
376 |
fprintf(stderr, "Failed to receive: %s\n", strerror(errno)); |
5f1f1a3e6636
Activate, Send and received; cyclic timer with setitimer().
Florian Pose <fp@igh-essen.com>
parents:
1246
diff
changeset
|
377 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
/*****************************************************************************/ |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
382 |
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state) |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
383 |
{ |
1259
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
384 |
if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) { |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
385 |
fprintf(stderr, "Failed to get master state: %s\n", strerror(errno)); |
5f9d1abbee71
Added state functions; writing of process data works.
Florian Pose <fp@igh-essen.com>
parents:
1258
diff
changeset
|
386 |
} |
1244
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
387 |
} |
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
388 |
|
0b70040d3daa
No kernel handles in userspace; Domain creation.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
389 |
/*****************************************************************************/ |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
390 |
|
1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
391 |
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time) |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
392 |
{ |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
393 |
ec_ioctl_app_time_t data; |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
394 |
|
1417
7c2d5d69134c
Replaced timeval by 64-bit EtherCAT time.
Florian Pose <fp@igh-essen.com>
parents:
1413
diff
changeset
|
395 |
data.app_time = app_time; |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
396 |
|
1434
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
397 |
if (ioctl(master->fd, EC_IOCTL_APP_TIME, &data) == -1) { |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
398 |
fprintf(stderr, "Failed to set application time: %s\n", |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
399 |
strerror(errno)); |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
400 |
} |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
401 |
} |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
402 |
|
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
403 |
/*****************************************************************************/ |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
404 |
|
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
405 |
void ecrt_master_sync_reference_clock(ec_master_t *master) |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
406 |
{ |
4c6fe0ae37f1
Separated application time from synchronizing reference clock.
Florian Pose <fp@igh-essen.com>
parents:
1417
diff
changeset
|
407 |
if (ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL) == -1) { |
1413
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
408 |
fprintf(stderr, "Failed to sync reference clock: %s\n", |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
409 |
strerror(errno)); |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
410 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
411 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
412 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
413 |
/*****************************************************************************/ |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
414 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
415 |
void ecrt_master_sync_slave_clocks(ec_master_t *master) |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
416 |
{ |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
417 |
if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) { |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
418 |
fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno)); |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
419 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
420 |
} |
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
421 |
|
44c2b7c0ae1a
Userspace library implementation of DC functions.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
422 |
/*****************************************************************************/ |
1535
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
423 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
424 |
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
|
425 |
{ |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
426 |
if (ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL) == -1) { |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
427 |
fprintf(stderr, "Failed to queue sync monitor datagram: %s\n", |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
428 |
strerror(errno)); |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
429 |
} |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
430 |
} |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
431 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
432 |
/*****************************************************************************/ |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
433 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
434 |
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
|
435 |
{ |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
436 |
uint32_t time_diff; |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
437 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
438 |
if (ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff) == -1) { |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
439 |
time_diff = 0xffffffff; |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
440 |
fprintf(stderr, "Failed to process sync monitor datagram: %s\n", |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
441 |
strerror(errno)); |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
442 |
} |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
443 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
444 |
return time_diff; |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
445 |
} |
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
446 |
|
0c484ee12d89
DC synchrony monitoring methods.
Florian Pose <fp@igh-essen.com>
parents:
1531
diff
changeset
|
447 |
/*****************************************************************************/ |