/******************************************************************************
*
* $Id$
*
* 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
* 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 <stdio.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"
/*****************************************************************************/
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;
while (r) {
next_r = r->next;
ec_sdo_request_clear(r);
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) {
next_v = v->next;
ec_voe_handler_clear(v);
v = next_v;
}
}
/*****************************************************************************/
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
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;
memset(&data, 0x00, sizeof(ec_ioctl_config_t));
data.config_index = sc->index;
data.syncs[sync_index].dir = dir;
data.syncs[sync_index].watchdog_mode = watchdog_mode;
data.syncs[sync_index].config_this = 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(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/*****************************************************************************/
void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
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;
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(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
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;
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(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/*****************************************************************************/
void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
uint8_t sync_index)
{
ec_ioctl_config_pdo_t data;
int ret;
data.config_index = sc->index;
data.sync_index = sync_index;
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(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
uint8_t entry_bit_length)
{
ec_ioctl_add_pdo_entry_t data;
int ret;
data.config_index = sc->index;
data.pdo_index = pdo_index;
data.entry_index = entry_index;
data.entry_subindex = entry_subindex;
data.entry_bit_length = entry_bit_length;
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(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/*****************************************************************************/
void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
uint16_t pdo_index)
{
ec_ioctl_config_pdo_t data;
int ret;
data.config_index = sc->index;
data.index = pdo_index;
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(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
int ecrt_slave_config_pdos(ec_slave_config_t *sc,
unsigned int n_syncs, const ec_sync_info_t syncs[])
{
int ret;
unsigned int i, j, k;
const ec_sync_info_t *sync_info;
const ec_pdo_info_t *pdo_info;
const ec_pdo_entry_info_t *entry_info;
if (!syncs)
return 0;
for (i = 0; i < n_syncs; i++) {
sync_info = &syncs[i];
if (sync_info->index == (uint8_t) EC_END)
break;
if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
fprintf(stderr, "Invalid sync manager index %u!\n",
sync_info->index);
return -ENOENT;
}
ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
sync_info->dir, sync_info->watchdog_mode);
if (ret)
return ret;
ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
if (sync_info->n_pdos && sync_info->pdos) {
for (j = 0; j < sync_info->n_pdos; j++) {
pdo_info = &sync_info->pdos[j];
ret = ecrt_slave_config_pdo_assign_add(
sc, sync_info->index, pdo_info->index);
if (ret)
return ret;
ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
if (pdo_info->n_entries && pdo_info->entries) {
for (k = 0; k < pdo_info->n_entries; k++) {
entry_info = &pdo_info->entries[k];
ret = ecrt_slave_config_pdo_mapping_add(sc,
pdo_info->index, entry_info->index,
entry_info->subindex,
entry_info->bit_length);
if (ret)
return ret;
}
}
}
}
}
return 0;
}
/*****************************************************************************/
int ecrt_slave_config_reg_pdo_entry(
ec_slave_config_t *sc,
uint16_t index,
uint8_t subindex,
ec_domain_t *domain,
unsigned int *bit_position
)
{
ec_ioctl_reg_pdo_entry_t data;
int ret;
data.config_index = sc->index;
data.entry_index = index;
data.entry_subindex = subindex;
data.domain_index = domain->index;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
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 = data.bit_position;
} else {
if (data.bit_position) {
fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
"in config %u:%u.\n", index, subindex,
sc->alias, sc->position);
return -EFAULT;
}
}
return ret;
}
/*****************************************************************************/
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, 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;
data.dc_sync[0].cycle_time = sync0_cycle_time;
data.dc_sync[0].shift_time = sync0_shift_time;
data.dc_sync[1].cycle_time = sync1_cycle_time;
data.dc_sync[1].shift_time = sync1_shift_time;
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)));
}
}
/*****************************************************************************/
int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
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;
data.subindex = subindex;
data.data = sdo_data;
data.size = size;
data.complete_access = 0;
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;
}
/*****************************************************************************/
int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
const uint8_t *sdo_data, size_t size)
{
ec_ioctl_sc_sdo_t data;
int ret;
data.config_index = sc->index;
data.index = index;
data.subindex = 0;
data.data = sdo_data;
data.size = size;
data.complete_access = 1;
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;
}
/*****************************************************************************/
int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint8_t value)
{
uint8_t data[1];
EC_WRITE_U8(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
}
/*****************************************************************************/
int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint16_t value)
{
uint8_t data[2];
EC_WRITE_U16(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
}
/*****************************************************************************/
int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, uint32_t value)
{
uint8_t data[4];
EC_WRITE_U32(data, value);
return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
}
/*****************************************************************************/
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)
{
if (sc->first_sdo_request) {
ec_sdo_request_t *r = sc->first_sdo_request;
while (r->next) {
r = r->next;
}
r->next = req;
} else {
sc->first_sdo_request = req;
}
}
/*****************************************************************************/
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
uint16_t index, uint8_t subindex, size_t size)
{
ec_ioctl_sdo_request_t data;
ec_sdo_request_t *req;
int ret;
req = malloc(sizeof(ec_sdo_request_t));
if (!req) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
if (size) {
req->data = malloc(size);
if (!req->data) {
fprintf(stderr, "Failed to allocate %zu bytes of SDO data"
" memory.\n", size);
free(req);
return 0;
}
} else {
req->data = NULL;
}
data.config_index = sc->index;
data.sdo_index = index;
data.sdo_subindex = subindex;
data.size = size;
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(EC_IOCTL_ERRNO(ret)));
ec_sdo_request_clear(req);
free(req);
return NULL;
}
req->next = NULL;
req->config = sc;
req->index = data.request_index;
req->sdo_index = data.sdo_index;
req->sdo_subindex = data.sdo_subindex;
req->data_size = size;
req->mem_size = size;
ec_slave_config_add_sdo_request(sc, req);
return req;
}
/*****************************************************************************/
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)
{
if (sc->first_voe_handler) {
ec_voe_handler_t *v = sc->first_voe_handler;
while (v->next) {
v = v->next;
}
v->next = voe;
} else {
sc->first_voe_handler = voe;
}
}
/*****************************************************************************/
ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
size_t size)
{
ec_ioctl_voe_t data;
ec_voe_handler_t *voe;
int ret;
voe = malloc(sizeof(ec_voe_handler_t));
if (!voe) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
if (size) {
voe->data = malloc(size);
if (!voe->data) {
fprintf(stderr, "Failed to allocate %zu bytes of VoE data"
" memory.\n", size);
free(voe);
return 0;
}
} else {
voe->data = NULL;
}
data.config_index = sc->index;
data.size = size;
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(EC_IOCTL_ERRNO(ret)));
ec_voe_handler_clear(voe);
free(voe);
return NULL;
}
voe->next = NULL;
voe->config = sc;
voe->index = data.voe_index;
voe->data_size = size;
voe->mem_size = size;
ec_slave_config_add_voe_handler(sc, voe);
return voe;
}
/*****************************************************************************/
void ecrt_slave_config_state(const ec_slave_config_t *sc,
ec_slave_config_state_t *state)
{
ec_ioctl_sc_state_t data;
int ret;
data.config_index = sc->index;
data.state = state;
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(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
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;
io.idn = idn;
io.al_state = al_state;
io.data = data;
io.size = size;
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;
}
/*****************************************************************************/