--- a/lib/master.c Thu Sep 20 09:20:51 2012 +0200
+++ b/lib/master.c Thu Sep 20 15:28:25 2012 +0200
@@ -2,7 +2,7 @@
*
* $Id$
*
- * 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.
*
@@ -30,25 +30,25 @@
#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));
- return -1;
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
@@ -88,7 +88,11 @@
ec_master_clear_config(master);
if (master->fd != -1) {
+#if USE_RTDM
+ rt_dev_close(master->fd);
+#else
close(master->fd);
+#endif
}
}
@@ -121,8 +125,9 @@
}
index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
- if (index == -1) {
- fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
+ if (EC_IOCTL_IS_ERROR(index)) {
+ fprintf(stderr, "Failed to create domain: %s\n",
+ strerror(EC_IOCTL_ERRNO(index)));
free(domain);
return 0;
}
@@ -160,6 +165,7 @@
{
ec_ioctl_config_t data;
ec_slave_config_t *sc;
+ int ret;
sc = malloc(sizeof(ec_slave_config_t));
if (!sc) {
@@ -172,9 +178,10 @@
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;
}
@@ -194,13 +201,16 @@
/****************************************************************************/
-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;
-
- if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
- fprintf(stderr, "Failed to get master info: %s\n", strerror(errno));
- return -1;
+ int ret;
+
+ ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
+ 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;
@@ -216,13 +226,15 @@
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) {
- fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno));
- return -1;
+ ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to get slave info: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
slave_info->position = data.position;
@@ -232,7 +244,7 @@
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 =
@@ -258,6 +270,7 @@
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;
@@ -267,10 +280,11 @@
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));
- return -1; // FIXME
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
sync->index = sync_index;
@@ -290,6 +304,7 @@
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;
@@ -299,10 +314,11 @@
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));
- return -1; // FIXME
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
pdo->index = data.index;
@@ -319,6 +335,7 @@
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;
@@ -329,10 +346,11 @@
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));
- return -1; // FIXME
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
entry->index = data.index;
@@ -349,6 +367,7 @@
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;
@@ -357,13 +376,14 @@
download.data_size = data_size;
download.data = data;
- if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
- if (errno == EIO && abort_code) {
+ ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
+ 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));
- return -1;
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
return 0;
@@ -376,6 +396,7 @@
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;
@@ -384,13 +405,14 @@
download.data_size = data_size;
download.data = data;
- if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
- if (errno == EIO && abort_code) {
+ ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
+ 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));
- return -1;
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
return 0;
@@ -403,6 +425,7 @@
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;
@@ -410,13 +433,14 @@
upload.target_size = target_size;
upload.target = target;
- if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {
- if (errno == EIO && abort_code) {
+ ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload);
+ 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));
- return -1;
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
*result_size = upload.data_size;
@@ -430,6 +454,7 @@
uint16_t *error_code)
{
ec_ioctl_slave_soe_write_t io;
+ int ret;
io.slave_position = slave_position;
io.drive_no = drive_no;
@@ -437,12 +462,14 @@
io.data_size = data_size;
io.data = data;
- if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io) == -1) {
- if (errno == EIO && error_code) {
+ ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
+ 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));
- return -1;
+ fprintf(stderr, "Failed to write IDN: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
return 0;
@@ -455,6 +482,7 @@
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;
@@ -462,12 +490,14 @@
io.mem_size = target_size;
io.data = target;
- if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io) == -1) {
- if (errno == EIO && error_code) {
+ ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
+ 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));
- return -1;
+ fprintf(stderr, "Failed to read IDN: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
}
*result_size = io.data_size;
@@ -478,23 +508,35 @@
int ecrt_master_activate(ec_master_t *master)
{
- if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
- &master->process_data_size) == -1) {
+ ec_ioctl_master_activate_t io;
+ 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));
- return -1; // FIXME
- }
+ strerror(EC_IOCTL_ERRNO(ret)));
+ 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;
@@ -507,8 +549,12 @@
void ecrt_master_deactivate(ec_master_t *master)
{
- if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) {
- fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
+ int ret;
+
+ 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;
}
@@ -520,12 +566,15 @@
int ecrt_master_set_send_interval(ec_master_t *master,
size_t send_interval_us)
{
- if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
- &send_interval_us) == -1) {
+ int ret;
+
+ 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));
- return -1; // FIXME
- }
+ strerror(EC_IOCTL_ERRNO(ret)));
+ return -EC_IOCTL_ERRNO(ret);
+ }
+
return 0;
}
@@ -533,8 +582,12 @@
void ecrt_master_send(ec_master_t *master)
{
- if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
- fprintf(stderr, "Failed to send: %s\n", strerror(errno));
+ int ret;
+
+ 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)));
}
}
@@ -542,8 +595,12 @@
void ecrt_master_receive(ec_master_t *master)
{
- if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
- fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
+ int ret;
+
+ 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)));
}
}
@@ -551,8 +608,12 @@
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
- if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
- fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
+ int ret;
+
+ 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)));
}
}
@@ -562,12 +623,16 @@
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));
- return -errno;
+
+ ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io);
+ 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;
@@ -578,12 +643,14 @@
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)));
}
}
@@ -591,9 +658,12 @@
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)));
}
}
@@ -601,8 +671,12 @@
void ecrt_master_sync_slave_clocks(ec_master_t *master)
{
- if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) {
- fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno));
+ int ret;
+
+ 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)));
}
}
@@ -610,9 +684,12 @@
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)));
}
}
@@ -621,11 +698,13 @@
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
{
uint32_t time_diff;
-
- if (ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff) == -1) {
+ int ret;
+
+ 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;
@@ -635,9 +714,13 @@
void ecrt_master_reset(ec_master_t *master)
{
- if (ioctl(master->fd, EC_IOCTL_RESET, NULL) == -1) {
- fprintf(stderr, "Failed to reset master: %s\n", strerror(errno));
- }
-}
-
-/****************************************************************************/
+ int ret;
+
+ 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)));
+ }
+}
+
+/****************************************************************************/