fp@1244: /******************************************************************************
fp@1266: *
fp@1326: * $Id$
fp@1326: *
fp@1326: * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
fp@1326: *
fp@1326: * This file is part of the IgH EtherCAT master userspace library.
fp@1326: *
fp@1326: * The IgH EtherCAT master userspace library is free software; you can
fp@1326: * redistribute it and/or modify it under the terms of the GNU Lesser General
fp@1326: * Public License as published by the Free Software Foundation; version 2.1
fp@1326: * of the License.
fp@1287: *
fp@1326: * The IgH EtherCAT master userspace library is distributed in the hope that
fp@1326: * it will be useful, but WITHOUT ANY WARRANTY; without even the implied
fp@1326: * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
fp@1326: * GNU Lesser General Public License for more details.
fp@1287: *
fp@1326: * You should have received a copy of the GNU Lesser General Public License
fp@1326: * along with the IgH EtherCAT master userspace library. If not, see
fp@1326: * .
fp@1326: *
fp@1363: * ---
fp@1363: *
fp@1363: * The license mentioned above concerns the source code only. Using the
fp@1363: * EtherCAT technology and brand is only permitted in compliance with the
fp@1363: * industrial property and similar rights of Beckhoff Automation GmbH.
fp@1244: *
fp@1244: *****************************************************************************/
fp@1244:
fp@1244: #include
fp@1244: #include
fp@1244: #include
fp@1244: #include
fp@1244: #include
fp@1258: #include
fp@1244:
fp@1244: #include "master.h"
fp@1244: #include "domain.h"
fp@1246: #include "slave_config.h"
fp@1244: #include "master/ioctl.h"
fp@1244:
fp@1244: /*****************************************************************************/
fp@1244:
fp@1244: ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
fp@1244: {
fp@1244: ec_domain_t *domain;
fp@1244: int index;
fp@1244:
fp@1244: domain = malloc(sizeof(ec_domain_t));
fp@1244: if (!domain) {
fp@1244: fprintf(stderr, "Failed to allocate memory.\n");
fp@1244: return 0;
fp@1244: }
fp@1244:
fp@1244: index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
fp@1244: if (index == -1) {
fp@1244: fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
fp@1244: free(domain);
fp@1244: return 0;
fp@1244: }
fp@1244:
fp@1244: domain->index = (unsigned int) index;
fp@1255: domain->master = master;
fp@1258: domain->process_data = NULL;
fp@1244: return domain;
fp@1244: }
fp@1244:
fp@1244: /*****************************************************************************/
fp@1244:
fp@1244: ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
fp@1244: uint16_t alias, uint16_t position, uint32_t vendor_id,
fp@1244: uint32_t product_code)
fp@1244: {
fp@1246: ec_ioctl_config_t data;
fp@1246: ec_slave_config_t *sc;
fp@1246: int index;
fp@1246:
fp@1246: sc = malloc(sizeof(ec_slave_config_t));
fp@1246: if (!sc) {
fp@1246: fprintf(stderr, "Failed to allocate memory.\n");
fp@1246: return 0;
fp@1246: }
fp@1246:
fp@1246: data.alias = alias;
fp@1246: data.position = position;
fp@1246: data.vendor_id = vendor_id;
fp@1246: data.product_code = product_code;
fp@1246:
fp@1246: if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
fp@1246: fprintf(stderr, "Failed to create slave config: %s\n",
fp@1246: strerror(errno));
fp@1246: free(sc);
fp@1246: return 0;
fp@1246: }
fp@1246:
fp@1255: sc->master = master;
fp@1246: sc->index = data.config_index;
fp@1255: sc->alias = alias;
fp@1255: sc->position = position;
fp@1246: return sc;
fp@1244: }
fp@1244:
fp@1244: /*****************************************************************************/
fp@1244:
fp@1341: int ecrt_master_slave(ec_master_t *master, uint16_t position,
fp@1341: ec_slave_info_t *slave_info)
fp@1341: {
fp@1341: ec_ioctl_slave_t data;
fp@1341: int index;
fp@1341:
fp@1341: data.position = position;
fp@1341:
fp@1341: if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
fp@1341: fprintf(stderr, "Failed to get slave info: %s\n",
fp@1341: strerror(errno));
fp@1341: return -1;
fp@1341: }
fp@1341:
fp@1341: slave_info->position = data.position;
fp@1341: slave_info->vendor_id = data.vendor_id;
fp@1341: slave_info->product_code = data.product_code;
fp@1341: slave_info->revision_number = data.revision_number;
fp@1341: slave_info->serial_number = data.serial_number;
fp@1341: slave_info->alias = data.alias;
fp@1341: slave_info->current_on_ebus = data.current_on_ebus;
fp@1341: slave_info->al_state = data.al_state;
fp@1341: slave_info->error_flag = data.error_flag;
fp@1341: slave_info->sync_count = data.sync_count;
fp@1341: slave_info->sdo_count = data.sdo_count;
fp@1341: strncpy(slave_info->name, data.name, EC_IOCTL_STRING_SIZE);
fp@1341:
fp@1341: return 0;
fp@1341: }
fp@1341:
fp@1341: /*****************************************************************************/
fp@1341:
fp@1244: int ecrt_master_activate(ec_master_t *master)
fp@1244: {
fp@1258: if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
fp@1258: &master->process_data_size) == -1) {
fp@1247: fprintf(stderr, "Failed to activate master: %s\n",
fp@1247: strerror(errno));
fp@1313: return -1; // FIXME
fp@1247: }
fp@1247:
fp@1258: if (master->process_data_size) {
fp@1258: master->process_data = mmap(0, master->process_data_size,
fp@1259: PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);
fp@1258: if (master->process_data == MAP_FAILED) {
fp@1258: fprintf(stderr, "Failed to map process data: %s", strerror(errno));
fp@1258: master->process_data = NULL;
fp@1258: master->process_data_size = 0;
fp@1313: return -1; // FIXME
fp@1258: }
fp@1258:
fp@1258: // Access the mapped region to cause the initial page fault
fp@1258: printf("pd: %x\n", master->process_data[0]);
fp@1258: }
fp@1258:
fp@1244: return 0;
fp@1244: }
fp@1244:
fp@1244: /*****************************************************************************/
fp@1244:
fp@1244: void ecrt_master_send(ec_master_t *master)
fp@1244: {
fp@1247: if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
fp@1247: fprintf(stderr, "Failed to send: %s\n", strerror(errno));
fp@1247: }
fp@1244: }
fp@1244:
fp@1244: /*****************************************************************************/
fp@1244:
fp@1244: void ecrt_master_receive(ec_master_t *master)
fp@1244: {
fp@1247: if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
fp@1247: fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
fp@1247: }
fp@1244: }
fp@1244:
fp@1244: /*****************************************************************************/
fp@1244:
fp@1244: void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
fp@1244: {
fp@1259: if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
fp@1259: fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
fp@1259: }
fp@1244: }
fp@1244:
fp@1244: /*****************************************************************************/
fp@1413:
fp@1434: void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
fp@1434: {
fp@1434: ec_ioctl_app_time_t data;
fp@1413:
fp@1417: data.app_time = app_time;
fp@1413:
fp@1434: if (ioctl(master->fd, EC_IOCTL_APP_TIME, &data) == -1) {
fp@1434: fprintf(stderr, "Failed to set application time: %s\n",
fp@1434: strerror(errno));
fp@1434: }
fp@1434: }
fp@1434:
fp@1434: /*****************************************************************************/
fp@1434:
fp@1434: void ecrt_master_sync_reference_clock(ec_master_t *master)
fp@1434: {
fp@1434: if (ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL) == -1) {
fp@1413: fprintf(stderr, "Failed to sync reference clock: %s\n",
fp@1413: strerror(errno));
fp@1413: }
fp@1413: }
fp@1413:
fp@1413: /*****************************************************************************/
fp@1413:
fp@1413: void ecrt_master_sync_slave_clocks(ec_master_t *master)
fp@1413: {
fp@1413: if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) {
fp@1413: fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno));
fp@1413: }
fp@1413: }
fp@1413:
fp@1413: /*****************************************************************************/