fp@1255: /******************************************************************************
fp@2589:  *
fp@1326:  *  $Id$
fp@2589:  *
fp@2589:  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
fp@2589:  *
fp@1326:  *  This file is part of the IgH EtherCAT master userspace library.
fp@2589:  *
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:  *  <http://www.gnu.org/licenses/>.
fp@2589:  *
fp@1363:  *  ---
fp@2589:  *
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@1255:  *
fp@1255:  *****************************************************************************/
fp@1255: 
fp@1255: #include <stdlib.h>
fp@1255: #include <stdio.h>
fp@1255: #include <string.h>
fp@2589: #include <errno.h> /* ENOENT */
fp@2589: 
fp@2589: #include "ioctl.h"
fp@1255: #include "slave_config.h"
fp@1255: #include "domain.h"
fp@1352: #include "sdo_request.h"
fp@2589: #include "reg_request.h"
fp@1264: #include "voe_handler.h"
fp@1255: #include "master.h"
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1959: void ec_slave_config_clear(ec_slave_config_t *sc)
fp@1959: {
fp@1959:     ec_sdo_request_t *r, *next_r;
fp@2589:     ec_reg_request_t *e, *next_e;
fp@1959:     ec_voe_handler_t *v, *next_v;
fp@1959: 
fp@1959:     r = sc->first_sdo_request;
fp@1959:     while (r) {
fp@1959:         next_r = r->next;
fp@1959:         ec_sdo_request_clear(r);
fp@1959:         r = next_r;
fp@1959:     }
fp@1959: 
fp@2589:     e = sc->first_reg_request;
fp@2589:     while (e) {
fp@2589:         next_e = e->next;
fp@2589:         ec_reg_request_clear(e);
fp@2589:         e = next_e;
fp@2589:     }
fp@1959: 
fp@1959:     v = sc->first_voe_handler;
fp@1959:     while (v) {
fp@1959:         next_v = v->next;
fp@1959:         ec_voe_handler_clear(v);
fp@1959:         v = next_v;
fp@1959:     }
fp@1959: }
fp@1959: 
fp@1959: /*****************************************************************************/
fp@1959: 
fp@1255: int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
fp@1509:         ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)
fp@1255: {
fp@1255:     ec_ioctl_config_t data;
fp@2589:     int ret;
fp@1255: 
fp@1255:     if (sync_index >= EC_MAX_SYNC_MANAGERS)
fp@1313:         return -ENOENT;
fp@1255: 
fp@1255:     memset(&data, 0x00, sizeof(ec_ioctl_config_t));
fp@1255:     data.config_index = sc->index;
fp@1255:     data.syncs[sync_index].dir = dir;
fp@1509:     data.syncs[sync_index].watchdog_mode = watchdog_mode;
fp@1509:     data.syncs[sync_index].config_this = 1;
fp@1255: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1255:         fprintf(stderr, "Failed to config sync manager: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@1255:     return 0;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1509: void ecrt_slave_config_watchdog(ec_slave_config_t *sc,
fp@1509:         uint16_t divider, uint16_t intervals)
fp@1509: {
fp@1509:     ec_ioctl_config_t data;
fp@2589:     int ret;
fp@1509: 
fp@1509:     memset(&data, 0x00, sizeof(ec_ioctl_config_t));
fp@1509:     data.config_index = sc->index;
fp@1509:     data.watchdog_divider = divider;
fp@1509:     data.watchdog_intervals = intervals;
fp@1509: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_WATCHDOG, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1509:         fprintf(stderr, "Failed to config watchdog: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
martin@1981:     }
martin@1981: }
martin@1981: 
martin@1981: /*****************************************************************************/
martin@1981: 
dave@2609: void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,
dave@2609:         uint8_t allow_overlapping_pdos)
dave@2609: {
dave@2609:     ec_ioctl_config_t data;
dave@2609: 
dave@2609:     memset(&data, 0, sizeof(ec_ioctl_config_t));
dave@2609:     data.config_index = sc->index;
dave@2609:     data.allow_overlapping_pdos = allow_overlapping_pdos;
dave@2609: 
dave@2609:     if (ioctl(sc->master->fd, EC_IOCTL_SC_OVERLAPPING_IO, &data) == -1) {
dave@2609:         fprintf(stderr, "Failed to config overlapping PDOs: %s\n",
dave@2609:                 strerror(errno));
dave@2609:     }
dave@2609: }
dave@2609: 
dave@2609: /*****************************************************************************/
dave@2609: 
fp@1255: int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
fp@1255:         uint8_t sync_index, uint16_t pdo_index)
fp@1255: {
fp@1255:     ec_ioctl_config_pdo_t data;
fp@2589:     int ret;
fp@1255: 
fp@1255:     data.config_index = sc->index;
fp@1255:     data.sync_index = sync_index;
fp@1255:     data.index = pdo_index;
fp@1255: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1327:         fprintf(stderr, "Failed to add PDO: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@1255:     return 0;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
fp@1255:         uint8_t sync_index)
fp@1255: {
fp@1255:     ec_ioctl_config_pdo_t data;
fp@2589:     int ret;
fp@1255: 
fp@1255:     data.config_index = sc->index;
fp@1255:     data.sync_index = sync_index;
fp@1255: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1327:         fprintf(stderr, "Failed to clear PDOs: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@1255:     }
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
fp@1255:         uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
fp@1255:         uint8_t entry_bit_length)
fp@1255: {
fp@1255:     ec_ioctl_add_pdo_entry_t data;
fp@2589:     int ret;
fp@1255: 
fp@1255:     data.config_index = sc->index;
fp@1255:     data.pdo_index = pdo_index;
fp@1255:     data.entry_index = entry_index;
fp@1255:     data.entry_subindex = entry_subindex;
fp@1255:     data.entry_bit_length = entry_bit_length;
fp@1255: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1327:         fprintf(stderr, "Failed to add PDO entry: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@1255:     return 0;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
fp@1255:         uint16_t pdo_index)
fp@1255: {
fp@1255:     ec_ioctl_config_pdo_t data;
fp@2589:     int ret;
fp@1255: 
fp@1255:     data.config_index = sc->index;
fp@1255:     data.index = pdo_index;
fp@1255: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1327:         fprintf(stderr, "Failed to clear PDO entries: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@1255:     }
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: int ecrt_slave_config_pdos(ec_slave_config_t *sc,
fp@1255:         unsigned int n_syncs, const ec_sync_info_t syncs[])
fp@1255: {
fp@1313:     int ret;
fp@1255:     unsigned int i, j, k;
fp@1255:     const ec_sync_info_t *sync_info;
fp@1255:     const ec_pdo_info_t *pdo_info;
fp@1255:     const ec_pdo_entry_info_t *entry_info;
fp@1255: 
fp@1255:     if (!syncs)
fp@1255:         return 0;
fp@1255: 
fp@1255:     for (i = 0; i < n_syncs; i++) {
fp@1255:         sync_info = &syncs[i];
fp@1255: 
fp@1255:         if (sync_info->index == (uint8_t) EC_END)
fp@1255:             break;
fp@1255: 
fp@1255:         if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
fp@1255:             fprintf(stderr, "Invalid sync manager index %u!\n",
fp@1255:                     sync_info->index);
fp@1313:             return -ENOENT;
fp@1255:         }
fp@1255: 
fp@1509:         ret = ecrt_slave_config_sync_manager(sc, sync_info->index,
fp@1509:                 sync_info->dir, sync_info->watchdog_mode);
fp@1313:         if (ret)
fp@1313:             return ret;
fp@1255: 
fp@1255:         if (sync_info->n_pdos && sync_info->pdos) {
fp@1255:             ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
fp@1255: 
fp@1255:             for (j = 0; j < sync_info->n_pdos; j++) {
fp@1255:                 pdo_info = &sync_info->pdos[j];
fp@1255: 
fp@1313:                 ret = ecrt_slave_config_pdo_assign_add(
fp@1313:                         sc, sync_info->index, pdo_info->index);
fp@1313:                 if (ret)
fp@1313:                     return ret;
fp@1255: 
fp@1255:                 if (pdo_info->n_entries && pdo_info->entries) {
fp@1255:                     ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
fp@1255: 
fp@1255:                     for (k = 0; k < pdo_info->n_entries; k++) {
fp@1255:                         entry_info = &pdo_info->entries[k];
fp@1255: 
fp@1313:                         ret = ecrt_slave_config_pdo_mapping_add(sc,
fp@1313:                                 pdo_info->index, entry_info->index,
fp@1313:                                 entry_info->subindex,
fp@1313:                                 entry_info->bit_length);
fp@1313:                         if (ret)
fp@1313:                             return ret;
fp@1255:                     }
fp@1255:                 }
fp@1255:             }
fp@1255:         }
fp@1255:     }
fp@1255: 
fp@1255:     return 0;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: int ecrt_slave_config_reg_pdo_entry(
fp@1255:         ec_slave_config_t *sc,
fp@1255:         uint16_t index,
fp@1255:         uint8_t subindex,
fp@1255:         ec_domain_t *domain,
fp@1255:         unsigned int *bit_position
fp@1255:         )
fp@1255: {
fp@1255:     ec_ioctl_reg_pdo_entry_t data;
fp@1255:     int ret;
fp@1255: 
fp@1255:     data.config_index = sc->index;
fp@1255:     data.entry_index = index;
fp@1255:     data.entry_subindex = subindex;
fp@1255:     data.domain_index = domain->index;
fp@1255: 
fp@1255:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1327:         fprintf(stderr, "Failed to register PDO entry: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1255:     }
fp@1255: 
fp@1255:     if (bit_position) {
fp@1255:         *bit_position = data.bit_position;
fp@1255:     } else {
fp@1255:         if (data.bit_position) {
fp@1327:             fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
fp@1255:                     "in config %u:%u.\n", index, subindex,
fp@1255:                     sc->alias, sc->position);
fp@2589:             return -EFAULT;
fp@1255:         }
fp@1255:     }
fp@1255: 
fp@1255:     return ret;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@2589: int ecrt_slave_config_reg_pdo_entry_pos(
fp@2589:         ec_slave_config_t *sc,
fp@2589:         uint8_t sync_index,
fp@2589:         unsigned int pdo_pos,
fp@2589:         unsigned int entry_pos,
fp@2589:         ec_domain_t *domain,
fp@2589:         unsigned int *bit_position
fp@2589:         )
fp@2589: {
fp@2589:     ec_ioctl_reg_pdo_pos_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.config_index = sc->index;
fp@2589:     io.sync_index = sync_index;
fp@2589:     io.pdo_pos = pdo_pos;
fp@2589:     io.entry_pos = entry_pos;
fp@2589:     io.domain_index = domain->index;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_POS, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to register PDO entry: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@2589:     if (bit_position) {
fp@2589:         *bit_position = io.bit_position;
fp@2589:     } else {
fp@2589:         if (io.bit_position) {
fp@2589:             fprintf(stderr, "PDO entry %u/%u/%u does not byte-align "
fp@2589:                     "in config %u:%u.\n", sync_index, pdo_pos, entry_pos,
fp@2589:                     sc->alias, sc->position);
fp@2589:             return -EFAULT;
fp@2589:         }
fp@2589:     }
fp@2589: 
fp@2589:     return ret;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@1448: void ecrt_slave_config_dc(ec_slave_config_t *sc, uint16_t assign_activate,
fp@2589:         uint32_t sync0_cycle_time, int32_t sync0_shift_time,
fp@2589:         uint32_t sync1_cycle_time, int32_t sync1_shift_time)
fp@1413: {
fp@1455:     ec_ioctl_config_t data;
fp@2589:     int ret;
fp@1455: 
fp@1455:     data.config_index = sc->index;
fp@1455:     data.dc_assign_activate = assign_activate;
fp@1508:     data.dc_sync[0].cycle_time = sync0_cycle_time;
fp@1508:     data.dc_sync[0].shift_time = sync0_shift_time;
fp@1508:     data.dc_sync[1].cycle_time = sync1_cycle_time;
fp@1508:     data.dc_sync[1].shift_time = sync1_shift_time;
fp@1438: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_DC, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to set DC parameters: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@1413:     }
fp@1413: }
fp@1413: 
fp@1413: /*****************************************************************************/
fp@1413: 
fp@1255: int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
fp@1255:         uint8_t subindex, const uint8_t *sdo_data, size_t size)
fp@1255: {
fp@1255:     ec_ioctl_sc_sdo_t data;
fp@2589:     int ret;
fp@1255: 
fp@1255:     data.config_index = sc->index;
fp@1255:     data.index = index;
fp@1255:     data.subindex = subindex;
fp@1255:     data.data = sdo_data;
fp@1255:     data.size = size;
fp@1526:     data.complete_access = 0;
fp@1526: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to configure SDO: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1526:     }
fp@1526: 
fp@1526:     return 0;
fp@1526: }
fp@1526: 
fp@1526: /*****************************************************************************/
fp@1526: 
fp@1526: int ecrt_slave_config_complete_sdo(ec_slave_config_t *sc, uint16_t index,
fp@1526:         const uint8_t *sdo_data, size_t size)
fp@1526: {
fp@1526:     ec_ioctl_sc_sdo_t data;
fp@2589:     int ret;
fp@1526: 
fp@1526:     data.config_index = sc->index;
fp@1526:     data.index = index;
fp@1526:     data.subindex = 0;
fp@1526:     data.data = sdo_data;
fp@1526:     data.size = size;
fp@1526:     data.complete_access = 1;
fp@1255: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to configure SDO: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1255:     }
fp@1255: 
fp@1255:     return 0;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
fp@1255:         uint8_t subindex, uint8_t value)
fp@1255: {
fp@1255:     uint8_t data[1];
fp@1255: 
fp@1255:     EC_WRITE_U8(data, value);
fp@1255:     return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
fp@1255:         uint8_t subindex, uint16_t value)
fp@1255: {
fp@1255:     uint8_t data[2];
fp@1255: 
fp@1255:     EC_WRITE_U16(data, value);
fp@1255:     return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
fp@1255:         uint8_t subindex, uint32_t value)
fp@1255: {
fp@1255:     uint8_t data[4];
fp@1255: 
fp@1255:     EC_WRITE_U32(data, value);
fp@1255:     return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@2589: int ecrt_slave_config_emerg_size(ec_slave_config_t *sc, size_t elements)
fp@2589: {
fp@2589:     ec_ioctl_sc_emerg_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.config_index = sc->index;
fp@2589:     io.size = elements;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_SIZE, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to set emergency ring size: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@2589:     return 0;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: int ecrt_slave_config_emerg_pop(ec_slave_config_t *sc, uint8_t *target)
fp@2589: {
fp@2589:     ec_ioctl_sc_emerg_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.config_index = sc->index;
fp@2589:     io.target = target;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_POP, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         if (EC_IOCTL_ERRNO(ret) != ENOENT) {
fp@2589:             fprintf(stderr, "Failed to get emergency message: %s\n",
fp@2589:                     strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         }
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@2589:     return 0;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: int ecrt_slave_config_emerg_clear(ec_slave_config_t *sc)
fp@2589: {
fp@2589:     ec_ioctl_sc_emerg_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.config_index = sc->index;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_CLEAR, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to clear emergency ring: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@2589:     return 0;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: int ecrt_slave_config_emerg_overruns(ec_slave_config_t *sc)
fp@2589: {
fp@2589:     ec_ioctl_sc_emerg_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.config_index = sc->index;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_EMERG_OVERRUNS, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to get emergency overruns: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@2589:     return io.overruns;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@1959: void ec_slave_config_add_sdo_request(ec_slave_config_t *sc,
fp@1959:         ec_sdo_request_t *req)
fp@1959: {
fp@1959:     if (sc->first_sdo_request) {
fp@1959:         ec_sdo_request_t *r = sc->first_sdo_request;
fp@1959:         while (r->next) {
fp@1959:             r = r->next;
fp@1959:         }
fp@1959:         r->next = req;
fp@1959:     } else {
fp@1959:         sc->first_sdo_request = req;
fp@1959:     }
fp@1959: }
fp@1959: 
fp@1959: /*****************************************************************************/
fp@1959: 
fp@1255: ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
fp@1255:         uint16_t index, uint8_t subindex, size_t size)
fp@1255: {
fp@1352:     ec_ioctl_sdo_request_t data;
fp@1352:     ec_sdo_request_t *req;
fp@2589:     int ret;
fp@1352: 
fp@1352:     req = malloc(sizeof(ec_sdo_request_t));
fp@1352:     if (!req) {
fp@1352:         fprintf(stderr, "Failed to allocate memory.\n");
fp@1352:         return 0;
fp@1352:     }
fp@1352: 
fp@1352:     if (size) {
fp@1352:         req->data = malloc(size);
fp@1352:         if (!req->data) {
ch1010277@2025:             fprintf(stderr, "Failed to allocate %zu bytes of SDO data"
fp@1352:                     " memory.\n", size);
fp@1352:             free(req);
fp@1352:             return 0;
fp@1352:         }
fp@1352:     } else {
fp@1352:         req->data = NULL;
fp@1352:     }
fp@1352: 
fp@1352:     data.config_index = sc->index;
fp@1352:     data.sdo_index = index;
fp@1352:     data.sdo_subindex = subindex;
fp@1352:     data.size = size;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1352:         fprintf(stderr, "Failed to create SDO request: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@1959:         ec_sdo_request_clear(req);
fp@1352:         free(req);
fp@2589:         return NULL;
fp@1352:     }
fp@1352: 
fp@1959:     req->next = NULL;
fp@1352:     req->config = sc;
fp@1352:     req->index = data.request_index;
fp@1352:     req->sdo_index = data.sdo_index;
fp@1352:     req->sdo_subindex = data.sdo_subindex;
fp@1352:     req->data_size = size;
fp@1352:     req->mem_size = size;
fp@1959: 
fp@1959:     ec_slave_config_add_sdo_request(sc, req);
fp@1959: 
fp@1352:     return req;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@2589: void ec_slave_config_add_reg_request(ec_slave_config_t *sc,
fp@2589:         ec_reg_request_t *reg)
fp@2589: {
fp@2589:     if (sc->first_reg_request) {
fp@2589:         ec_reg_request_t *r = sc->first_reg_request;
fp@2589:         while (r->next) {
fp@2589:             r = r->next;
fp@2589:         }
fp@2589:         r->next = reg;
fp@2589:     } else {
fp@2589:         sc->first_reg_request = reg;
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@2589: ec_reg_request_t *ecrt_slave_config_create_reg_request(ec_slave_config_t *sc,
fp@2589:         size_t size)
fp@2589: {
fp@2589:     ec_ioctl_reg_request_t io;
fp@2589:     ec_reg_request_t *reg;
fp@2589:     int ret;
fp@2589: 
fp@2589:     reg = malloc(sizeof(ec_reg_request_t));
fp@2589:     if (!reg) {
fp@2589:         fprintf(stderr, "Failed to allocate memory.\n");
fp@2589:         return NULL;
fp@2589:     }
fp@2589: 
fp@2589:     if (size) {
fp@2589:         reg->data = malloc(size);
fp@2589:         if (!reg->data) {
fp@2589:             fprintf(stderr, "Failed to allocate %zu bytes of register data"
fp@2589:                     " memory.\n", size);
fp@2589:             free(reg);
fp@2589:             return 0;
fp@2589:         }
fp@2589:     } else {
fp@2589:         reg->data = NULL;
fp@2589:     }
fp@2589: 
fp@2589:     io.config_index = sc->index;
fp@2589:     io.mem_size = size;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_REQUEST, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to create register request: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         ec_reg_request_clear(reg);
fp@2589:         free(reg);
fp@2589:         return NULL;
fp@2589:     }
fp@2589: 
fp@2589:     reg->next = NULL;
fp@2589:     reg->config = sc;
fp@2589:     reg->index = io.request_index;
fp@2589:     reg->mem_size = size;
fp@2589: 
fp@2589:     ec_slave_config_add_reg_request(sc, reg);
fp@2589: 
fp@2589:     return reg;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/
fp@2589: 
fp@1959: void ec_slave_config_add_voe_handler(ec_slave_config_t *sc,
fp@1959:         ec_voe_handler_t *voe)
fp@1959: {
fp@1959:     if (sc->first_voe_handler) {
fp@1959:         ec_voe_handler_t *v = sc->first_voe_handler;
fp@1959:         while (v->next) {
fp@1959:             v = v->next;
fp@1959:         }
fp@1959:         v->next = voe;
fp@1959:     } else {
fp@1959:         sc->first_voe_handler = voe;
fp@1959:     }
fp@1959: }
fp@1959: 
fp@1959: /*****************************************************************************/
fp@1959: 
fp@1255: ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
fp@1255:         size_t size)
fp@1255: {
fp@1264:     ec_ioctl_voe_t data;
fp@1264:     ec_voe_handler_t *voe;
fp@2589:     int ret;
fp@1264: 
fp@1264:     voe = malloc(sizeof(ec_voe_handler_t));
fp@1264:     if (!voe) {
fp@1264:         fprintf(stderr, "Failed to allocate memory.\n");
fp@1264:         return 0;
fp@1264:     }
fp@1264: 
fp@1264:     if (size) {
fp@1264:         voe->data = malloc(size);
fp@1264:         if (!voe->data) {
ch1010277@2025:             fprintf(stderr, "Failed to allocate %zu bytes of VoE data"
fp@1264:                     " memory.\n", size);
fp@1264:             free(voe);
fp@1264:             return 0;
fp@1264:         }
fp@1264:     } else {
fp@1264:         voe->data = NULL;
fp@1264:     }
fp@1264: 
fp@1264:     data.config_index = sc->index;
fp@1264:     data.size = size;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1264:         fprintf(stderr, "Failed to create VoE handler: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@1959:         ec_voe_handler_clear(voe);
fp@1264:         free(voe);
fp@2589:         return NULL;
fp@1264:     }
fp@1264: 
fp@1959:     voe->next = NULL;
fp@1264:     voe->config = sc;
fp@1264:     voe->index = data.voe_index;
fp@1264:     voe->data_size = size;
fp@1264:     voe->mem_size = size;
fp@1959: 
fp@1959:     ec_slave_config_add_voe_handler(sc, voe);
fp@1959: 
fp@1264:     return voe;
fp@1255: }
fp@1255: 
fp@1255: /*****************************************************************************/
fp@1255: 
fp@1255: void ecrt_slave_config_state(const ec_slave_config_t *sc,
fp@1255:         ec_slave_config_state_t *state)
fp@1255: {
fp@1259:     ec_ioctl_sc_state_t data;
fp@2589:     int ret;
fp@1259: 
fp@1259:     data.config_index = sc->index;
fp@1259:     data.state = state;
fp@2589: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1259:         fprintf(stderr, "Failed to get slave configuration state: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@1259:     }
fp@1259: }
fp@1259: 
fp@1259: /*****************************************************************************/
fp@1862: 
fp@1952: int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
fp@1952:         uint16_t idn, ec_al_state_t al_state, const uint8_t *data, size_t size)
fp@1862: {
fp@1862:     ec_ioctl_sc_idn_t io;
fp@2589:     int ret;
fp@1862: 
fp@1862:     io.config_index = sc->index;
fp@1952:     io.drive_no = drive_no;
fp@1862:     io.idn = idn;
fp@1945:     io.al_state = al_state;
fp@1862:     io.data = data;
fp@1862:     io.size = size;
fp@1862: 
fp@2589:     ret = ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to configure IDN: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@2589:     return 0;
fp@2589: }
fp@2589: 
fp@2589: /*****************************************************************************/