/******************************************************************************
*
* $Id$
*
* 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.
*
* The IgH EtherCAT master userspace library is distributed in the hope that
* it will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* 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.
*
*****************************************************************************/
#include <stdlib.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <sys/mman.h>
#include "master.h"
#include "domain.h"
#include "slave_config.h"
#include "master/ioctl.h"
/*****************************************************************************/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
{
ec_domain_t *domain;
int index;
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->index = (unsigned int) index;
domain->master = master;
domain->process_data = NULL;
return domain;
}
/*****************************************************************************/
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
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 index;
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->master = master;
sc->index = data.config_index;
sc->alias = alias;
sc->position = position;
return sc;
}
/*****************************************************************************/
int ecrt_master_slave(ec_master_t *master, uint16_t position,
ec_slave_info_t *slave_info)
{
ec_ioctl_slave_t data;
int index;
data.position = position;
if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
fprintf(stderr, "Failed to get slave info: %s\n",
strerror(errno));
return -1;
}
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;
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_IOCTL_STRING_SIZE);
return 0;
}
/*****************************************************************************/
int ecrt_master_activate(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
&master->process_data_size) == -1) {
fprintf(stderr, "Failed to activate master: %s\n",
strerror(errno));
return -1; // FIXME
}
if (master->process_data_size) {
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", strerror(errno));
master->process_data = NULL;
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]);
}
return 0;
}
/*****************************************************************************/
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));
}
}
/*****************************************************************************/
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));
}
}
/*****************************************************************************/
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));
}
}
/*****************************************************************************/
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
{
ec_ioctl_app_time_t data;
data.app_time = app_time;
if (ioctl(master->fd, EC_IOCTL_APP_TIME, &data) == -1) {
fprintf(stderr, "Failed to set application time: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL) == -1) {
fprintf(stderr, "Failed to sync reference clock: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
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 ecrt_slave_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;
download.slave_position = slave_position;
download.sdo_index = index;
download.sdo_entry_subindex = subindex;
download.data_size = data_size;
download.data = data;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
if (errno == -EIO) {
if (abort_code) {
*abort_code = download.abort_code;
}
}
fprintf(stderr, "Failed to execute SDO download: %s\n",
strerror(errno));
return -1;
}
return 0;
}
/*****************************************************************************/
int ecrt_slave_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;
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) {
if (errno == -EIO) {
if (abort_code) {
*abort_code = upload.abort_code;
}
}
fprintf(stderr, "Failed to execute SDO upload: %s\n",
strerror(errno));
return -1;
}
*result_size = upload.data_size;
return 0;
}
/*****************************************************************************/