--- a/lib/slave_config.c Thu Sep 20 09:20:51 2012 +0200
+++ b/lib/slave_config.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.
*
@@ -29,17 +29,16 @@
*****************************************************************************/
#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 "voe_handler.h"
#include "master.h"
-#include "master/ioctl.h"
/*****************************************************************************/
@@ -70,6 +69,7 @@
ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
{
ec_ioctl_config_t data;
+ int ret;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
@@ -80,10 +80,11 @@
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;
@@ -95,15 +96,17 @@
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));
+ strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -113,15 +116,17 @@
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;
@@ -133,13 +138,15 @@
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)));
}
}
@@ -150,6 +157,7 @@
uint8_t entry_bit_length)
{
ec_ioctl_add_pdo_entry_t data;
+ int ret;
data.config_index = sc->index;
data.pdo_index = pdo_index;
@@ -157,10 +165,11 @@
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;
@@ -172,13 +181,15 @@
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)));
}
}
@@ -264,10 +275,10 @@
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) {
@@ -277,7 +288,7 @@
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;
}
}
@@ -291,6 +302,7 @@
uint32_t sync1_cycle_time, uint32_t sync1_shift_time)
{
ec_ioctl_config_t data;
+ int ret;
data.config_index = sc->index;
data.dc_assign_activate = assign_activate;
@@ -299,8 +311,10 @@
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 assign_activate word: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -310,6 +324,7 @@
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;
@@ -318,9 +333,11 @@
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;
@@ -332,6 +349,7 @@
const uint8_t *sdo_data, size_t size)
{
ec_ioctl_sc_sdo_t data;
+ int ret;
data.config_index = sc->index;
data.index = index;
@@ -340,9 +358,11 @@
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;
@@ -404,6 +424,7 @@
{
ec_ioctl_sdo_request_t data;
ec_sdo_request_t *req;
+ int ret;
req = malloc(sizeof(ec_sdo_request_t));
if (!req) {
@@ -428,9 +449,10 @@
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;
@@ -472,6 +494,7 @@
{
ec_ioctl_voe_t data;
ec_voe_handler_t *voe;
+ int ret;
voe = malloc(sizeof(ec_voe_handler_t));
if (!voe) {
@@ -494,9 +517,10 @@
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;
@@ -519,13 +543,15 @@
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)));
}
}
@@ -535,6 +561,7 @@
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;
@@ -543,12 +570,14 @@
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;
+}
+
+/*****************************************************************************/