etherlabmaster: comparison lib/master.c

equal deleted inserted replaced

-:f4313f5aba88
+:3bdd7a747fae
 /*****************************************************************************
 *
 *  $Id$
 *
-*  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+*  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT master userspace library.
 *
 *  The IgH EtherCAT master userspace library is free software; you can
 *  redistribute it and/or modify it under the terms of the GNU Lesser General
 *
 ****************************************************************************/
 #include <unistd.h> /* close() */
 #include <stdlib.h>
-#include <sys/ioctl.h>
 #include <stdio.h>
 #include <errno.h>
 #include <string.h>
 #include <sys/mman.h>
+#include "ioctl.h"
 #include "master.h"
 #include "domain.h"
 #include "slave_config.h"
-#include "master/ioctl.h"
 /****************************************************************************/
 int ecrt_master_reserve(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
+int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to reserve master: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1;
+return -EC_IOCTL_ERRNO(ret);
 }
 return 0;
 }
 /****************************************************************************/
 }
 ec_master_clear_config(master);
 if (master->fd != -1) {
+#if USE_RTDM
+rt_dev_close(master->fd);
+#else
 close(master->fd);
+#endif
 }
 }
 /****************************************************************************/
 fprintf(stderr, "Failed to allocate memory.\n");
 return 0;
 }
 index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
-if (index == -1) {
+if (EC_IOCTL_IS_ERROR(index)) {
-fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
+fprintf(stderr, "Failed to create domain: %s\n",
+strerror(EC_IOCTL_ERRNO(index)));
 free(domain);
 return 0;
 }
 domain->next = NULL;
 uint16_t alias, uint16_t position, uint32_t vendor_id,
 uint32_t product_code)
 {
 ec_ioctl_config_t data;
 ec_slave_config_t *sc;
+int ret;
 sc = malloc(sizeof(ec_slave_config_t));
 if (!sc) {
 fprintf(stderr, "Failed to allocate memory.\n");
 return 0;
 data.alias = alias;
 data.position = position;
 data.vendor_id = vendor_id;
 data.product_code = product_code;
-if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to create slave config: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
 free(sc);
 return 0;
 }
 sc->next = NULL;
 return sc;
 }
 /****************************************************************************/
-int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)
+int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
 {
 ec_ioctl_master_t data;
+int ret;
-if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
-fprintf(stderr, "Failed to get master info: %s\n", strerror(errno));
+ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
-return -1;
+if (EC_IOCTL_IS_ERROR(ret)) {
+fprintf(stderr, "Failed to get master info: %s\n",
+strerror(EC_IOCTL_ERRNO(ret)));
+return -EC_IOCTL_ERRNO(ret);
 }
 master_info->slave_count = data.slave_count;
 master_info->link_up = data.devices[0].link_state;
 master_info->scan_busy = data.scan_busy;
 int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
 ec_slave_info_t *slave_info)
 {
 ec_ioctl_slave_t data;
-int i;
+int ret, i;
 data.position = slave_position;
-if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data);
-fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno));
+if (EC_IOCTL_IS_ERROR(ret)) {
-return -1;
+fprintf(stderr, "Failed to get slave info: %s\n",
+strerror(EC_IOCTL_ERRNO(ret)));
+return -EC_IOCTL_ERRNO(ret);
 }
 slave_info->position = data.position;
 slave_info->vendor_id = data.vendor_id;
 slave_info->product_code = data.product_code;
 slave_info->revision_number = data.revision_number;
 slave_info->serial_number = data.serial_number;
 slave_info->alias = data.alias;
 slave_info->current_on_ebus = data.current_on_ebus;
-for ( i = 0; i < EC_MAX_PORTS; i++ ) {
+for (i = 0; i < EC_MAX_PORTS; i++) {
 slave_info->ports[i].desc = data.ports[i].desc;
 slave_info->ports[i].link.link_up = data.ports[i].link.link_up;
 slave_info->ports[i].link.loop_closed =
 data.ports[i].link.loop_closed;
 slave_info->ports[i].link.signal_detected =
 int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
 uint8_t sync_index, ec_sync_info_t *sync)
 {
 ec_ioctl_slave_sync_t data;
+int ret;
 if (sync_index >= EC_MAX_SYNC_MANAGERS) {
 return -ENOENT;
 }
 memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
 data.slave_position = slave_position;
 data.sync_index = sync_index;
-if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to get sync manager information: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1; // FIXME
+return -EC_IOCTL_ERRNO(ret);
 }
 sync->index = sync_index;
 sync->dir = EC_READ_BIT(&data.control_register, 2) ?
 EC_DIR_OUTPUT : EC_DIR_INPUT;
 int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
 uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
 {
 ec_ioctl_slave_sync_pdo_t data;
+int ret;
 if (sync_index >= EC_MAX_SYNC_MANAGERS)
 return -ENOENT;
 memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
 data.slave_position = slave_position;
 data.sync_index = sync_index;
 data.pdo_pos = pos;
-if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to get pdo information: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1; // FIXME
+return -EC_IOCTL_ERRNO(ret);
 }
 pdo->index = data.index;
 pdo->n_entries = data.entry_count;
 pdo->entries = NULL;
 int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
 uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
 ec_pdo_entry_info_t *entry)
 {
 ec_ioctl_slave_sync_pdo_entry_t data;
+int ret;
 if (sync_index >= EC_MAX_SYNC_MANAGERS)
 return -ENOENT;
 memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
 data.slave_position = slave_position;
 data.sync_index = sync_index;
 data.pdo_pos = pdo_pos;
 data.entry_pos = entry_pos;
-if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to get pdo entry information: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1; // FIXME
+return -EC_IOCTL_ERRNO(ret);
 }
 entry->index = data.index;
 entry->subindex = data.subindex;
 entry->bit_length = data.bit_length;
 int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
 uint16_t index, uint8_t subindex, uint8_t *data,
 size_t data_size, uint32_t *abort_code)
 {
 ec_ioctl_slave_sdo_download_t download;
+int ret;
 download.slave_position = slave_position;
 download.sdo_index = index;
 download.sdo_entry_subindex = subindex;
 download.complete_access = 0;
 download.data_size = data_size;
 download.data = data;
-if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
-if (errno == EIO && abort_code) {
+if (EC_IOCTL_IS_ERROR(ret)) {
+if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
 *abort_code = download.abort_code;
 }
 fprintf(stderr, "Failed to execute SDO download: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1;
+return -EC_IOCTL_ERRNO(ret);
 }
 return 0;
 }
 int ecrt_master_sdo_download_complete(ec_master_t *master,
 uint16_t slave_position, uint16_t index, uint8_t *data,
 size_t data_size, uint32_t *abort_code)
 {
 ec_ioctl_slave_sdo_download_t download;
+int ret;
 download.slave_position = slave_position;
 download.sdo_index = index;
 download.sdo_entry_subindex = 0;
 download.complete_access = 1;
 download.data_size = data_size;
 download.data = data;
-if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
-if (errno == EIO && abort_code) {
+if (EC_IOCTL_IS_ERROR(ret)) {
+if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
 *abort_code = download.abort_code;
 }
 fprintf(stderr, "Failed to execute SDO download: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1;
+return -EC_IOCTL_ERRNO(ret);
 }
 return 0;
 }
 int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
 uint16_t index, uint8_t subindex, uint8_t *target,
 size_t target_size, size_t *result_size, uint32_t *abort_code)
 {
 ec_ioctl_slave_sdo_upload_t upload;
+int ret;
 upload.slave_position = slave_position;
 upload.sdo_index = index;
 upload.sdo_entry_subindex = subindex;
 upload.target_size = target_size;
 upload.target = target;
-if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload);
-if (errno == EIO && abort_code) {
+if (EC_IOCTL_IS_ERROR(ret)) {
+if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
 *abort_code = upload.abort_code;
 }
 fprintf(stderr, "Failed to execute SDO upload: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1;
+return -EC_IOCTL_ERRNO(ret);
 }
 *result_size = upload.data_size;
 return 0;
 }
 int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
 uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
 uint16_t *error_code)
 {
 ec_ioctl_slave_soe_write_t io;
+int ret;
 io.slave_position = slave_position;
 io.drive_no = drive_no;
 io.idn = idn;
 io.data_size = data_size;
 io.data = data;
-if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
-if (errno == EIO && error_code) {
+if (EC_IOCTL_IS_ERROR(ret)) {
+if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
 *error_code = io.error_code;
 }
-fprintf(stderr, "Failed to write IDN: %s\n", strerror(errno));
+fprintf(stderr, "Failed to write IDN: %s\n",
-return -1;
+strerror(EC_IOCTL_ERRNO(ret)));
+return -EC_IOCTL_ERRNO(ret);
 }
 return 0;
 }
 int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
 uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
 size_t *result_size, uint16_t *error_code)
 {
 ec_ioctl_slave_soe_read_t io;
+int ret;
 io.slave_position = slave_position;
 io.drive_no = drive_no;
 io.idn = idn;
 io.mem_size = target_size;
 io.data = target;
-if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
-if (errno == EIO && error_code) {
+if (EC_IOCTL_IS_ERROR(ret)) {
+if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
 *error_code = io.error_code;
 }
-fprintf(stderr, "Failed to read IDN: %s\n", strerror(errno));
+fprintf(stderr, "Failed to read IDN: %s\n",
-return -1;
+strerror(EC_IOCTL_ERRNO(ret)));
+return -EC_IOCTL_ERRNO(ret);
 }
 *result_size = io.data_size;
 return 0;
 }
 /****************************************************************************/
 int ecrt_master_activate(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
+ec_ioctl_master_activate_t io;
-&master->process_data_size) == -1) {
+int ret;
+ret = ioctl(master->fd, EC_IOCTL_ACTIVATE, &io);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to activate master: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1; // FIXME
+return -EC_IOCTL_ERRNO(ret);
 }
+master->process_data_size = io.process_data_size;
 if (master->process_data_size) {
+#ifdef USE_RTDM
+/* memory-mapping was already done in kernel. The user-space addess is
+* provided in the ioctl data.
+*/
+master->process_data = io.process_data;
+#else
 master->process_data = mmap(0, master->process_data_size,
 PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);
 if (master->process_data == MAP_FAILED) {
-fprintf(stderr, "Failed to map process data: %s",
+fprintf(stderr, "Failed to map process data: %s\n",
 strerror(errno));
 master->process_data = NULL;
 master->process_data_size = 0;
-return -1; // FIXME
+return -errno;
 }
+#endif
 // Access the mapped region to cause the initial page fault
 master->process_data[0] = 0x00;
 }
 /****************************************************************************/
 void ecrt_master_deactivate(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) {
+int ret;
-fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
+ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL);
+if (EC_IOCTL_IS_ERROR(ret)) {
+fprintf(stderr, "Failed to deactivate master: %s\n",
+strerror(EC_IOCTL_ERRNO(ret)));
 return;
 }
 ec_master_clear_config(master);
 }
 /****************************************************************************/
 int ecrt_master_set_send_interval(ec_master_t *master,
 size_t send_interval_us)
 {
-if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
+int ret;
-&send_interval_us) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, &send_interval_us);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to set send interval: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
-return -1; // FIXME
+return -EC_IOCTL_ERRNO(ret);
 }
 return 0;
 }
 /****************************************************************************/
 void ecrt_master_send(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
+int ret;
-fprintf(stderr, "Failed to send: %s\n", strerror(errno));
+ret = ioctl(master->fd, EC_IOCTL_SEND, NULL);
+if (EC_IOCTL_IS_ERROR(ret)) {
+fprintf(stderr, "Failed to send: %s\n",
+strerror(EC_IOCTL_ERRNO(ret)));
 }
 }
 /****************************************************************************/
 void ecrt_master_receive(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
+int ret;
-fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
+ret = ioctl(master->fd, EC_IOCTL_RECEIVE, NULL);
+if (EC_IOCTL_IS_ERROR(ret)) {
+fprintf(stderr, "Failed to receive: %s\n",
+strerror(EC_IOCTL_ERRNO(ret)));
 }
 }
 /****************************************************************************/
 void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
 {
-if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
+int ret;
-fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
+ret = ioctl(master->fd, EC_IOCTL_MASTER_STATE, state);
+if (EC_IOCTL_IS_ERROR(ret)) {
+fprintf(stderr, "Failed to get master state: %s\n",
+strerror(EC_IOCTL_ERRNO(ret)));
 }
 }
 /****************************************************************************/
 int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx,
 ec_master_link_state_t *state)
 {
 ec_ioctl_link_state_t io;
+int ret;
 io.dev_idx = dev_idx;
 io.state = state;
-if (ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io) == -1) {
-fprintf(stderr, "Failed to get link state: %s\n", strerror(errno));
+ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io);
-return -errno;
+if (EC_IOCTL_IS_ERROR(ret)) {
+fprintf(stderr, "Failed to get link state: %s\n",
+strerror(EC_IOCTL_ERRNO(ret)));
+return -EC_IOCTL_ERRNO(ret);
 }
 return 0;
 }
 /****************************************************************************/
 void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
 {
 ec_ioctl_app_time_t data;
+int ret;
 data.app_time = app_time;
-if (ioctl(master->fd, EC_IOCTL_APP_TIME, &data) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &data);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to set application time: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
 }
 }
 /****************************************************************************/
 void ecrt_master_sync_reference_clock(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL) == -1) {
+int ret;
+ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to sync reference clock: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
 }
 }
 /****************************************************************************/
 void ecrt_master_sync_slave_clocks(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) {
+int ret;
-fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno));
+ret = ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL);
+if (EC_IOCTL_IS_ERROR(ret)) {
+fprintf(stderr, "Failed to sync slave clocks: %s\n",
+strerror(EC_IOCTL_ERRNO(ret)));
 }
 }
 /****************************************************************************/
 void ecrt_master_sync_monitor_queue(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL) == -1) {
+int ret;
+ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL);
+if (EC_IOCTL_IS_ERROR(ret)) {
 fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
 }
 }
 /****************************************************************************/
 uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
 {
 uint32_t time_diff;
+int ret;
-if (ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff) == -1) {
+ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff);
+if (EC_IOCTL_IS_ERROR(ret)) {
 time_diff = 0xffffffff;
 fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
-strerror(errno));
+strerror(EC_IOCTL_ERRNO(ret)));
 }
 return time_diff;
 }
 /****************************************************************************/
 void ecrt_master_reset(ec_master_t *master)
 {
-if (ioctl(master->fd, EC_IOCTL_RESET, NULL) == -1) {
+int ret;
-fprintf(stderr, "Failed to reset master: %s\n", strerror(errno));
-}
+ret = ioctl(master->fd, EC_IOCTL_RESET, NULL);
-}
+if (EC_IOCTL_IS_ERROR(ret)) {
+fprintf(stderr, "Failed to reset master: %s\n",
-/****************************************************************************/
+strerror(EC_IOCTL_ERRNO(ret)));
+}
+}
+/****************************************************************************/

branch	stable-1.5
changeset 2433	3bdd7a747fae
parent 2427	17ada1c77acc
child 2443	2c3ccdde3919