/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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 right to use EtherCAT Technology is granted and comes free of charge
* under condition of compatibility of product made by Licensee. People
* intending to distribute/sell products based on the code, have to sign an
* agreement to guarantee that products using software based on IgH EtherCAT
* master stay compatible with the actual EtherCAT specification (which are
* released themselves as an open standard) as the (only) precondition to have
* the right to use EtherCAT Technology, IP and trade marks.
*
*****************************************************************************/
#include <stdlib.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include "slave_config.h"
#include "domain.h"
#include "voe_handler.h"
#include "master.h"
#include "master/ioctl.h"
/*****************************************************************************/
int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
ec_direction_t dir)
{
ec_ioctl_config_t data;
unsigned int i;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -1;
memset(&data, 0x00, sizeof(ec_ioctl_config_t));
data.config_index = sc->index;
data.syncs[sync_index].dir = dir;
if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
fprintf(stderr, "Failed to config sync manager: %s\n",
strerror(errno));
return -1;
}
return 0;
}
/*****************************************************************************/
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;
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) {
fprintf(stderr, "Failed to add Pdo: %s\n",
strerror(errno));
return -1;
}
return 0;
}
/*****************************************************************************/
void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
uint8_t sync_index)
{
ec_ioctl_config_pdo_t data;
data.config_index = sc->index;
data.sync_index = sync_index;
if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
fprintf(stderr, "Failed to clear Pdos: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
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;
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;
if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
fprintf(stderr, "Failed to add Pdo entry: %s\n",
strerror(errno));
return -1;
}
return 0;
}
/*****************************************************************************/
void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
uint16_t pdo_index)
{
ec_ioctl_config_pdo_t data;
data.config_index = sc->index;
data.index = pdo_index;
if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
fprintf(stderr, "Failed to clear Pdo entries: %s\n",
strerror(errno));
}
}
/*****************************************************************************/
int ecrt_slave_config_pdos(ec_slave_config_t *sc,
unsigned int n_syncs, const ec_sync_info_t syncs[])
{
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 -1;
}
if (ecrt_slave_config_sync_manager(
sc, sync_info->index, sync_info->dir))
return -1;
if (sync_info->n_pdos && sync_info->pdos) {
ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
for (j = 0; j < sync_info->n_pdos; j++) {
pdo_info = &sync_info->pdos[j];
if (ecrt_slave_config_pdo_assign_add(
sc, sync_info->index, pdo_info->index))
return -1;
if (pdo_info->n_entries && pdo_info->entries) {
ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
for (k = 0; k < pdo_info->n_entries; k++) {
entry_info = &pdo_info->entries[k];
if (ecrt_slave_config_pdo_mapping_add(sc,
pdo_info->index, entry_info->index,
entry_info->subindex,
entry_info->bit_length))
return -1;
}
}
}
}
}
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 (ret == -1) {
fprintf(stderr, "Failed to register Pdo entry: %s\n",
strerror(errno));
return -2;
}
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 -3;
}
}
return 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;
data.config_index = sc->index;
data.index = index;
data.subindex = subindex;
data.data = sdo_data;
data.size = size;
if (ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data) == -1) {
fprintf(stderr, "Failed to configure Sdo.\n");
return -1;
}
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);
}
/*****************************************************************************/
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
uint16_t index, uint8_t subindex, size_t size)
{
return 0; // TODO
}
/*****************************************************************************/
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;
unsigned int index;
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 %u bytes of VoE data"
" memory.\n", size);
free(voe);
return 0;
}
} else {
voe->data = NULL;
}
data.config_index = sc->index;
data.size = size;
if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {
fprintf(stderr, "Failed to create VoE handler: %s\n",
strerror(errno));
if (voe->data)
free(voe->data);
free(voe);
return NULL;
}
voe->config = sc;
voe->index = data.voe_index;
voe->data_size = size;
voe->mem_size = size;
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;
data.config_index = sc->index;
data.state = state;
if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) {
fprintf(stderr, "Failed to get slave configuration state: %s\n",
strerror(errno));
}
}
/*****************************************************************************/