etherlabmaster: comparison lib/master.c

equal deleted inserted replaced

-:ab0b96ac18bb
+:8b67602f5161
 /******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006-2009  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
 *  Public License as published by the Free Software Foundation; version 2.1
 *  of the License.
 *
 *  GNU Lesser General Public License for more details.
 *
 *  You should have received a copy of the GNU Lesser General Public License
 *  along with the IgH EtherCAT master userspace library. If not, see
 *  <http://www.gnu.org/licenses/>.
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *****************************************************************************/
 domain = malloc(sizeof(ec_domain_t));
 if (!domain) {
 fprintf(stderr, "Failed to allocate memory.\n");
 return 0;
 }
 index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
 if (index == -1) {
 fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
 free(domain);
 return 0;
 }
 domain->next = NULL;
 domain->index = (unsigned int) index;
 domain->master = master;
 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) {
 fprintf(stderr, "Failed to create slave config: %s\n",
 strerror(errno));
 free(sc);
 return 0;
 }
 sc->next = NULL;
 sc->master = master;
 sc->index = data.config_index;
 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 index;
+int index, i;
 data.position = slave_position;
 if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
 fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno));
 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++ ) {
+	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 = data.ports[i].link.signal_detected;
+	slave_info->ports[i].receive_time = data.ports[i].receive_time;
+	slave_info->ports[i].next_slave = data.ports[i].next_slave;
+	slave_info->ports[i].delay_to_next_dc = data.ports[i].delay_to_next_dc;
+}
 slave_info->al_state = data.al_state;
 slave_info->error_flag = data.error_flag;
 slave_info->sync_count = data.sync_count;
 slave_info->sdo_count = data.sdo_count;
 strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
 master->process_data_size = 0;
 return -1; // FIXME
 }
 // Access the mapped region to cause the initial page fault
-printf("pd: %x\n", master->process_data[0]);
+memset(master->process_data, 0, master->process_data_size);
 }
 return 0;
 }
 }
 }
 /*****************************************************************************/
+void ecrt_master_configured_slaves_state(const ec_master_t *master,
+ec_master_state_t *state)
+{
+if (ioctl(master->fd, EC_IOCTL_MASTER_SC_STATE, state) == -1) {
+fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
+}
+}
+/*****************************************************************************/
 void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
 {
 ec_ioctl_app_time_t data;
 data.app_time = app_time;

changeset 2060	8b67602f5161
parent 2042	8b358effa78b
child 2066	b544025bd696