--- a/lib/slave_config.c Thu Sep 06 14:21:02 2012 +0200
+++ b/lib/slave_config.c Mon Nov 03 15:20:05 2014 +0100
@@ -1,11 +1,11 @@
/******************************************************************************
- *
+ *
* $Id$
- *
- * 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
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* 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.
@@ -29,23 +29,24 @@
*****************************************************************************/
#include <stdlib.h>
-#include <sys/ioctl.h>
#include <stdio.h>
-#include <errno.h>
#include <string.h>
-
+#include <errno.h> /* ENOENT */
+
+#include "ioctl.h"
#include "slave_config.h"
#include "domain.h"
#include "sdo_request.h"
+#include "reg_request.h"
#include "voe_handler.h"
#include "master.h"
-#include "master/ioctl.h"
/*****************************************************************************/
void ec_slave_config_clear(ec_slave_config_t *sc)
{
ec_sdo_request_t *r, *next_r;
+ ec_reg_request_t *e, *next_e;
ec_voe_handler_t *v, *next_v;
r = sc->first_sdo_request;
@@ -55,6 +56,12 @@
r = next_r;
}
+ e = sc->first_reg_request;
+ while (e) {
+ next_e = e->next;
+ ec_reg_request_clear(e);
+ e = next_e;
+ }
v = sc->first_voe_handler;
while (v) {
@@ -70,7 +77,7 @@
ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
{
ec_ioctl_config_t data;
- unsigned int i;
+ int ret;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
@@ -81,12 +88,13 @@
data.syncs[sync_index].watchdog_mode = watchdog_mode;
data.syncs[sync_index].config_this = 1;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to config sync manager: %s\n",
- strerror(errno));
- return -1; // FIXME
- }
-
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
return 0;
}
@@ -96,32 +104,17 @@
uint16_t divider, uint16_t intervals)
{
ec_ioctl_config_t data;
+ int ret;
memset(&data, 0x00, sizeof(ec_ioctl_config_t));
data.config_index = sc->index;
data.watchdog_divider = divider;
data.watchdog_intervals = intervals;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data) == -1) {
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to config watchdog: %s\n",
- strerror(errno));
- }
-}
-
-/*****************************************************************************/
-
-void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,
- uint8_t allow_overlapping_pdos)
-{
- ec_ioctl_config_t data;
-
- memset(&data, 0x00, sizeof(ec_ioctl_config_t));
- data.config_index = sc->index;
- data.allow_overlapping_pdos = allow_overlapping_pdos;
-
- if (ioctl(sc->master->fd, EC_IOCTL_SC_OVERLAPPING_IO, &data) == -1) {
- fprintf(stderr, "Failed to config overlapping PDOs: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -131,17 +124,19 @@
uint8_t sync_index, uint16_t pdo_index)
{
ec_ioctl_config_pdo_t data;
+ int ret;
data.config_index = sc->index;
data.sync_index = sync_index;
data.index = pdo_index;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to add PDO: %s\n",
- strerror(errno));
- return -1; // FIXME
- }
-
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
return 0;
}
@@ -151,13 +146,15 @@
uint8_t sync_index)
{
ec_ioctl_config_pdo_t data;
+ int ret;
data.config_index = sc->index;
data.sync_index = sync_index;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to clear PDOs: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -168,6 +165,7 @@
uint8_t entry_bit_length)
{
ec_ioctl_add_pdo_entry_t data;
+ int ret;
data.config_index = sc->index;
data.pdo_index = pdo_index;
@@ -175,12 +173,13 @@
data.entry_subindex = entry_subindex;
data.entry_bit_length = entry_bit_length;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to add PDO entry: %s\n",
- strerror(errno));
- return -1; // FIXME
- }
-
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
return 0;
}
@@ -190,13 +189,15 @@
uint16_t pdo_index)
{
ec_ioctl_config_pdo_t data;
+ int ret;
data.config_index = sc->index;
data.index = pdo_index;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to clear PDO entries: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -282,10 +283,10 @@
data.domain_index = domain->index;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
- if (ret == -1) {
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to register PDO entry: %s\n",
- strerror(errno));
- return -2; // FIXME
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
if (bit_position) {
@@ -295,7 +296,7 @@
fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
"in config %u:%u.\n", index, subindex,
sc->alias, sc->position);
- return -3; // FIXME
+ return -EFAULT;
}
}
@@ -304,11 +305,53 @@
/*****************************************************************************/
+int ecrt_slave_config_reg_pdo_entry_pos(
+ ec_slave_config_t *sc,
+ uint8_t sync_index,
+ unsigned int pdo_pos,
+ unsigned int entry_pos,
+ ec_domain_t *domain,
+ unsigned int *bit_position
+ )
+{
+ ec_ioctl_reg_pdo_pos_t io;
+ int ret;
+
+ io.config_index = sc->index;
+ io.sync_index = sync_index;
+ io.pdo_pos = pdo_pos;
+ io.entry_pos = entry_pos;
+ io.domain_index = domain->index;
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_POS, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to register PDO entry: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
+ if (bit_position) {
+ *bit_position = io.bit_position;
+ } else {
+ if (io.bit_position) {
+ fprintf(stderr, "PDO entry %u/%u/%u does not byte-align "
+ "in config %u:%u.\n", sync_index, pdo_pos, entry_pos,
+ sc->alias, sc->position);
+ return -EFAULT;
+ }
+ }
+
+ return ret;
+}
+
+/*****************************************************************************/
+
void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
- uint32_t sync0_cycle_time, uint32_t sync0_shift_time,
- uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
+ uint32_t sync0_cycle_time, int32_t sync0_shift_time,
+ uint32_t sync1_cycle_time, int32_t sync1_shift_time)
{
ec_ioctl_config_t data;
+ int ret;
data.config_index = sc->index;
data.dc_assign_activate = assign_activate;
@@ -317,8 +360,10 @@
data.dc_sync[1].cycle_time = sync1_cycle_time;
data.dc_sync[1].shift_time = sync1_shift_time;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data) == -1) {
- fprintf(stderr, "Failed to set assign_activate word.\n");
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to set DC parameters: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -328,6 +373,7 @@
uint8_t subindex, const uint8_t *sdo_data, size_t size)
{
ec_ioctl_sc_sdo_t data;
+ int ret;
data.config_index = sc->index;
data.index = index;
@@ -336,9 +382,11 @@
data.size = size;
data.complete_access = 0;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
- fprintf(stderr, "Failed to configure SDO.\n");
- return -1; // FIXME
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to configure SDO: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
return 0;
@@ -350,6 +398,7 @@
const uint8_t *sdo_data, size_t size)
{
ec_ioctl_sc_sdo_t data;
+ int ret;
data.config_index = sc->index;
data.index = index;
@@ -358,9 +407,11 @@
data.size = size;
data.complete_access = 1;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data) == -1) {
- fprintf(stderr, "Failed to configure SDO.\n");
- return -1; // FIXME
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to configure SDO: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
return 0;
@@ -401,6 +452,86 @@
/*****************************************************************************/
+int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)
+{
+ ec_ioctl_sc_emerg_t io;
+ int ret;
+
+ io.config_index = sc->index;
+ io.size = elements;
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_SIZE, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to set emergency ring size: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target)
+{
+ ec_ioctl_sc_emerg_t io;
+ int ret;
+
+ io.config_index = sc->index;
+ io.target = target;
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_POP, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ if (EC_IOCTL_ERRNO(ret) != ENOENT) {
+ fprintf(stderr, "Failed to get emergency message: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
+{
+ ec_ioctl_sc_emerg_t io;
+ int ret;
+
+ io.config_index = sc->index;
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_CLEAR, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to clear emergency ring: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
+{
+ ec_ioctl_sc_emerg_t io;
+ int ret;
+
+ io.config_index = sc->index;
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_OVERRUNS, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to get emergency overruns: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
+ return io.overruns;
+}
+
+/*****************************************************************************/
+
void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,
ec_sdo_request_t *req)
{
@@ -422,6 +553,7 @@
{
ec_ioctl_sdo_request_t data;
ec_sdo_request_t *req;
+ int ret;
req = malloc(sizeof(ec_sdo_request_t));
if (!req) {
@@ -445,13 +577,14 @@
data.sdo_index = index;
data.sdo_subindex = subindex;
data.size = size;
-
- if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) {
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to create SDO request: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
ec_sdo_request_clear(req);
free(req);
- return NULL;
+ return NULL;
}
req->next = NULL;
@@ -469,6 +602,71 @@
/*****************************************************************************/
+void ec_slave_config_add_reg_request(ec_slave_config_t *sc,
+ ec_reg_request_t *reg)
+{
+ if (sc->first_reg_request) {
+ ec_reg_request_t *r = sc->first_reg_request;
+ while (r->next) {
+ r = r->next;
+ }
+ r->next = reg;
+ } else {
+ sc->first_reg_request = reg;
+ }
+}
+
+/*****************************************************************************/
+
+ec_reg_request_t *ecrt_slave_config_create_reg_request(ec_slave_config_t *sc,
+ size_t size)
+{
+ ec_ioctl_reg_request_t io;
+ ec_reg_request_t *reg;
+ int ret;
+
+ reg = malloc(sizeof(ec_reg_request_t));
+ if (!reg) {
+ fprintf(stderr, "Failed to allocate memory.\n");
+ return NULL;
+ }
+
+ if (size) {
+ reg->data = malloc(size);
+ if (!reg->data) {
+ fprintf(stderr, "Failed to allocate %zu bytes of register data"
+ " memory.\n", size);
+ free(reg);
+ return 0;
+ }
+ } else {
+ reg->data = NULL;
+ }
+
+ io.config_index = sc->index;
+ io.mem_size = size;
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_REQUEST, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to create register request: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ ec_reg_request_clear(reg);
+ free(reg);
+ return NULL;
+ }
+
+ reg->next = NULL;
+ reg->config = sc;
+ reg->index = io.request_index;
+ reg->mem_size = size;
+
+ ec_slave_config_add_reg_request(sc, reg);
+
+ return reg;
+}
+
+/*****************************************************************************/
+
void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,
ec_voe_handler_t *voe)
{
@@ -490,7 +688,7 @@
{
ec_ioctl_voe_t data;
ec_voe_handler_t *voe;
- unsigned int index;
+ int ret;
voe = malloc(sizeof(ec_voe_handler_t));
if (!voe) {
@@ -512,13 +710,14 @@
data.config_index = sc->index;
data.size = size;
-
- if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to create VoE handler: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
ec_voe_handler_clear(voe);
free(voe);
- return NULL;
+ return NULL;
}
voe->next = NULL;
@@ -538,13 +737,15 @@
ec_slave_config_state_t *state)
{
ec_ioctl_sc_state_t data;
+ int ret;
data.config_index = sc->index;
data.state = state;
-
- if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) {
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get slave configuration state: %s\n",
- strerror(errno));
+ strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -554,6 +755,7 @@
uint16_t idn, ec_al_state_t al_state, const uint8_t *data, size_t size)
{
ec_ioctl_sc_idn_t io;
+ int ret;
io.config_index = sc->index;
io.drive_no = drive_no;
@@ -562,12 +764,14 @@
io.data = data;
io.size = size;
- if (ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io) == -1) {
- fprintf(stderr, "Failed to configure IDN.\n");
- return -1; // FIXME
- }
-
- return 0;
-}
-
-/*****************************************************************************/
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to configure IDN: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/