etherlabmaster: lib/slave_config.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: 1264 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	#include <stdlib.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	#include <sys/ioctl.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	#include <stdio.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	#include <errno.h>
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	#include <string.h>
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	#include "slave_config.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include "domain.h"
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	36	#include "voe_handler.h"
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "master.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "master/ioctl.h"
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	41
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	ec_direction_t dir)
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	ec_ioctl_config_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	unsigned int i;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	if (sync_index >= EC_MAX_SYNC_MANAGERS)
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	49	return -ENOENT;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	memset(&data, 0x00, sizeof(ec_ioctl_config_t));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	data.syncs[sync_index].dir = dir;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	54
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	fprintf(stderr, "Failed to config sync manager: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	strerror(errno));
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	58	return -1; // FIXME
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	60
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	return 0;
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
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	int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	uint8_t sync_index, uint16_t pdo_index)
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	ec_ioctl_config_pdo_t data;
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	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	data.sync_index = sync_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	data.index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	74
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	fprintf(stderr, "Failed to add Pdo: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	strerror(errno));
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	78	return -1; // FIXME
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	uint8_t sync_index)
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	ec_ioctl_config_pdo_t data;
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	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	data.sync_index = sync_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	93
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	fprintf(stderr, "Failed to clear Pdos: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	strerror(errno));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	}
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	int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	uint8_t entry_bit_length)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	ec_ioctl_add_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	107
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	data.pdo_index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	data.entry_index = entry_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	data.entry_subindex = entry_subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	data.entry_bit_length = entry_bit_length;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	113
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	fprintf(stderr, "Failed to add Pdo entry: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	strerror(errno));
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	117	return -1; // FIXME
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	119
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	122
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	void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	uint16_t pdo_index)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	ec_ioctl_config_pdo_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	129
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	data.index = pdo_index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	fprintf(stderr, "Failed to clear Pdo entries: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	strerror(errno));
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	138
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	140
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	int ecrt_slave_config_pdos(ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	unsigned int n_syncs, const ec_sync_info_t syncs[])
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	{
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	144	int ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	unsigned int i, j, k;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	const ec_sync_info_t *sync_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	const ec_pdo_info_t *pdo_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	const ec_pdo_entry_info_t *entry_info;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	149
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	if (!syncs)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	152
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	for (i = 0; i < n_syncs; i++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	sync_info = &syncs[i];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	155
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	if (sync_info->index == (uint8_t) EC_END)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	break;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	158
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	fprintf(stderr, "Invalid sync manager index %u!\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	sync_info->index);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	162	return -ENOENT;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	164
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	165	ret = ecrt_slave_config_sync_manager(
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	166	sc, sync_info->index, sync_info->dir);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	167	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	168	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	169
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	if (sync_info->n_pdos && sync_info->pdos) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	172
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	for (j = 0; j < sync_info->n_pdos; j++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	pdo_info = &sync_info->pdos[j];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	175
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	176	ret = ecrt_slave_config_pdo_assign_add(
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	177	sc, sync_info->index, pdo_info->index);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	178	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	179	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	180
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	if (pdo_info->n_entries && pdo_info->entries) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	183
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	for (k = 0; k < pdo_info->n_entries; k++) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	entry_info = &pdo_info->entries[k];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	186
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	187	ret = ecrt_slave_config_pdo_mapping_add(sc,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	188	pdo_info->index, entry_info->index,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	189	entry_info->subindex,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	190	entry_info->bit_length);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	191	if (ret)
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	192	return ret;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	198
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	201
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	203
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	int ecrt_slave_config_reg_pdo_entry(
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	uint8_t subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	ec_domain_t *domain,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	unsigned int *bit_position
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	ec_ioctl_reg_pdo_entry_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	int ret;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	214
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	data.entry_index = index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	data.entry_subindex = subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	data.domain_index = domain->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	219
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	if (ret == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	fprintf(stderr, "Failed to register Pdo entry: %s\n",
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	strerror(errno));
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	224	return -2; // FIXME
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	226
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	if (bit_position) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	*bit_position = data.bit_position;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	} else {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	if (data.bit_position) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	fprintf(stderr, "Pdo entry 0x%04X:%02X does not byte-align "
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	"in config %u:%u.\n", index, subindex,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	sc->alias, sc->position);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	234	return -3; // FIXME
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	237
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	return ret;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	242
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	uint8_t subindex, const uint8_t *sdo_data, size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	ec_ioctl_sc_sdo_t data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	247
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	248	data.config_index = sc->index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	data.index = index;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	data.subindex = subindex;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	data.data = sdo_data;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	data.size = size;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	253
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	if (ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data) == -1) {
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	fprintf(stderr, "Failed to configure Sdo.\n");
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1287 diff changeset	256	return -1; // FIXME
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	258
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	return 0;
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	261
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	263
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	uint8_t subindex, uint8_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	uint8_t data[1];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	268
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	EC_WRITE_U8(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	272
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	274
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	uint8_t subindex, uint16_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	uint8_t data[2];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	279
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	EC_WRITE_U16(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	283
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	285
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	uint8_t subindex, uint32_t value)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	{
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	uint8_t data[4];
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	290
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	EC_WRITE_U32(data, value);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	294
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	296
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	ec_sdo_request_t ecrt_slave_config_create_sdo_request(ec_slave_config_t sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	uint16_t index, uint8_t subindex, size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	{
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	300	return 0; // TODO
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	302
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	304
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	ec_voe_handler_t ecrt_slave_config_create_voe_handler(ec_slave_config_t sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	size_t size)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	{
1264 e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	308	ec_ioctl_voe_t data;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	309	ec_voe_handler_t *voe;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	310	unsigned int index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	311
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	312	voe = malloc(sizeof(ec_voe_handler_t));
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	313	if (!voe) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	314	fprintf(stderr, "Failed to allocate memory.\n");
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	315	return 0;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	316	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	317
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	318	if (size) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	319	voe->data = malloc(size);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	320	if (!voe->data) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	321	fprintf(stderr, "Failed to allocate %u bytes of VoE data"
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	322	" memory.\n", size);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	323	free(voe);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	324	return 0;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	325	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	326	} else {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	327	voe->data = NULL;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	328	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	329
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	330	data.config_index = sc->index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	331	data.size = size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	332
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	333	if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	334	fprintf(stderr, "Failed to create VoE handler: %s\n",
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	335	strerror(errno));
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	336	if (voe->data)
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	337	free(voe->data);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	338	free(voe);
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	339	return NULL;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	340	}
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	341
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	342	voe->config = sc;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	343	voe->index = data.voe_index;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	344	voe->data_size = size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	345	voe->mem_size = size;
e7882f246d7a Implemented VoE handler in userspace. Florian Pose <fp@igh-essen.com> parents: 1259 diff changeset	346	return voe;
1255 38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	}
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	348
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	/*****************************************************************************/
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	350
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	void ecrt_slave_config_state(const ec_slave_config_t *sc,
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	ec_slave_config_state_t *state)
38b7e05b20c1 Added some slave configuration methods. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	{
1259 5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	354	ec_ioctl_sc_state_t data;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	355
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	356	data.config_index = sc->index;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	357	data.state = state;
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	358
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	359	if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) {
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	360	fprintf(stderr, "Failed to get slave configuration state: %s\n",
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	361	strerror(errno));
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	362	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	363	}
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	364
5f9d1abbee71 Added state functions; writing of process data works. Florian Pose <fp@igh-essen.com> parents: 1255 diff changeset	365	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 26 Jan 2009 11:16:10 +0000
changeset 1326	ef907b0b5125
parent 1313	ed15eef57d5c
child 1327	4d179b06dd3c
permissions	-rw-r--r--