etherlabmaster: lib/domain.c@ef907b0b5125 (annotated)

1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
1266 dd1f501c4070 Added LGPL licence headers to userspace library. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	2	*
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	3	* $Id$
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	4	*
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	5	* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
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	6	*
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.
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	8	*
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/>.
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	22	*
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	23	* Using the EtherCAT technology and brand is permitted in compliance with
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	24	* the industrial property and similar rights of Beckhoff Automation GmbH.
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	*
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	27
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	/**
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	\file
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	EtherCAT domain methods.
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	32
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	35	#include <sys/ioctl.h>
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	36	#include <sys/mman.h>
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	37	#include <stdio.h>
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	38	#include <errno.h>
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	39	#include <string.h>
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	40
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "domain.h"
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	42	#include "master.h"
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	43	#include "master/ioctl.h"
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	const ec_pdo_entry_reg_t *regs)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	const ec_pdo_entry_reg_t *reg;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	ec_slave_config_t *sc;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	int ret;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	53
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	for (reg = regs; reg->index; reg++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	reg->position, reg->vendor_id, reg->product_code)))
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	57	return -1; // FIXME
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	reg->subindex, domain, reg->bit_position)) < 0)
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	61	return -1; // FIXME
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	62
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	*reg->offset = ret;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	65
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	70
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	uint8_t ecrt_domain_data(ec_domain_t domain)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	{
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	73	if (!domain->process_data) {
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	74	int offset = 0;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	75
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	76	offset = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_OFFSET,
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	77	domain->index);
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	78	if (offset == -1) {
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	79	fprintf(stderr, "Failed to get domain offset: %s\n",
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	80	strerror(errno));
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	81	return NULL;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	82	}
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	83
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	84	domain->process_data = domain->master->process_data + offset;
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	85	}
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	86
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	87	return domain->process_data;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	89
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	91
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	void ecrt_domain_process(ec_domain_t *domain)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	{
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	94	if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS,
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	95	domain->index) == -1) {
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	96	fprintf(stderr, "Failed to process domain: %s\n", strerror(errno));
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	97	}
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	99
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	101
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	void ecrt_domain_queue(ec_domain_t *domain)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	{
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	104	if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE,
900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	105	domain->index) == -1) {
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	106	fprintf(stderr, "Failed to queue domain: %s\n", strerror(errno));
1258 900f1124e8f8 Memory-mapped process data. Florian Pose <fp@igh-essen.com> parents: 1257 diff changeset	107	}
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	109
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	111
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	void ecrt_domain_state(const ec_domain_t domain, ec_domain_state_t state)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	{
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	114	ec_ioctl_domain_state_t data;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	115
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	116	data.domain_index = domain->index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	117	data.state = state;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	118
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	119	if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data) == -1) {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	120	fprintf(stderr, "Failed to get domain state: %s\n",
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	121	strerror(errno));
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1258 diff changeset	122	}
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	124
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 26 Jan 2009 11:16:10 +0000
changeset 1326	ef907b0b5125
parent 1313	ed15eef57d5c
child 1363	11c0b2caa253
permissions	-rw-r--r--