fp@2589: /*****************************************************************************
ch1010858@1982:  *
fp@2246:  *  $Id$
ch1010858@1982:  *
fp@2589:  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
ch1010858@1982:  *
fp@1326:  *  This file is part of the IgH EtherCAT master userspace library.
ch1010858@1982:  *
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/>.
ch1010858@1982:  *
fp@1363:  *  ---
ch1010858@1982:  *
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@2589:  ****************************************************************************/
fp@2589: 
fp@2589: #include <unistd.h> /* close() */
fp@1244: #include <stdlib.h>
fp@1244: #include <stdio.h>
fp@1244: #include <errno.h>
fp@1244: #include <string.h>
fp@1258: #include <sys/mman.h>
fp@1244: 
fp@2589: #include "ioctl.h"
fp@1244: #include "master.h"
fp@1244: #include "domain.h"
fp@1246: #include "slave_config.h"
fp@2589: 
fp@2589: /****************************************************************************/
fp@1244: 
fp@1497: int ecrt_master_reserve(ec_master_t *master)
fp@1497: {
fp@2589:     int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1497:         fprintf(stderr, "Failed to reserve master: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589:     return 0;
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@1497: 
fp@1960: void ec_master_clear_config(ec_master_t *master)
fp@1959: {
fp@1959:     ec_domain_t *d, *next_d;
fp@1959:     ec_slave_config_t *c, *next_c;
fp@1959: 
gavinl@2616:     if (master->process_data)  {
gavinl@2616:         munmap(master->process_data, master->process_data_size);
gavinl@2616:         master->process_data = NULL;
gavinl@2616:     }
gavinl@2616: 
fp@1959:     d = master->first_domain;
fp@1959:     while (d) {
fp@1959:         next_d = d->next;
fp@1959:         ec_domain_clear(d);
fp@1959:         d = next_d;
fp@1959:     }
fp@1960:     master->first_domain = NULL;
fp@1959: 
fp@1959:     c = master->first_config;
fp@1959:     while (c) {
fp@1959:         next_c = c->next;
fp@1959:         ec_slave_config_clear(c);
fp@1959:         c = next_c;
fp@1959:     }
fp@1960:     master->first_config = NULL;
fp@1960: }
fp@1960: 
fp@2589: /****************************************************************************/
fp@1960: 
fp@1960: void ec_master_clear(ec_master_t *master)
fp@1960: {
fp@1960:     ec_master_clear_config(master);
fp@1959: 
fp@1959:     if (master->fd != -1) {
fp@2589: #if USE_RTDM
fp@2589:         rt_dev_close(master->fd);
fp@2589: #else
fp@1959:         close(master->fd);
fp@2589: #endif
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@1959: 
fp@1959: void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain)
fp@1959: {
fp@1959:     if (master->first_domain) {
fp@1959:         ec_domain_t *d = master->first_domain;
fp@1959:         while (d->next) {
fp@1959:             d = d->next;
fp@1959:         }
fp@1959:         d->next = domain;
fp@1959:     } else {
fp@1959:         master->first_domain = domain;
fp@1959:     }
fp@1959: }
fp@1959: 
fp@2589: /****************************************************************************/
fp@1959: 
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:     }
ch1010858@1982: 
fp@1244:     index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
fp@2589:     if (EC_IOCTL_IS_ERROR(index)) {
fp@2589:         fprintf(stderr, "Failed to create domain: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(index)));
fp@1244:         free(domain);
ch1010858@1982:         return 0;
fp@1244:     }
fp@1244: 
fp@1959:     domain->next = NULL;
fp@1244:     domain->index = (unsigned int) index;
fp@1255:     domain->master = master;
fp@1258:     domain->process_data = NULL;
fp@1959: 
fp@1959:     ec_master_add_domain(master, domain);
fp@1959: 
fp@1244:     return domain;
fp@1244: }
fp@1244: 
fp@2589: /****************************************************************************/
fp@1244: 
fp@1959: void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc)
fp@1959: {
fp@1959:     if (master->first_config) {
fp@1959:         ec_slave_config_t *c = master->first_config;
fp@1959:         while (c->next) {
fp@1959:             c = c->next;
fp@1959:         }
fp@1959:         c->next = sc;
fp@1959:     } else {
fp@1959:         master->first_config = sc;
fp@1959:     }
fp@1959: }
fp@1959: 
fp@2589: /****************************************************************************/
fp@1959: 
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@2589:     int ret;
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:     }
ch1010858@1982: 
fp@1246:     data.alias = alias;
fp@1246:     data.position = position;
fp@1246:     data.vendor_id = vendor_id;
fp@1246:     data.product_code = product_code;
ch1010858@1982: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1246:         fprintf(stderr, "Failed to create slave config: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@1246:         free(sc);
ch1010858@1982:         return 0;
fp@1246:     }
fp@1246: 
fp@1959:     sc->next = NULL;
fp@1255:     sc->master = master;
fp@1246:     sc->index = data.config_index;
fp@1255:     sc->alias = alias;
fp@1255:     sc->position = position;
fp@1959:     sc->first_sdo_request = NULL;
fp@2589:     sc->first_reg_request = NULL;
fp@1959:     sc->first_voe_handler = NULL;
fp@1959: 
fp@1959:     ec_master_add_slave_config(master, sc);
fp@1959: 
fp@1246:     return sc;
fp@1244: }
fp@1244: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@2589: int ecrt_master_select_reference_clock(ec_master_t *master,
fp@2589:         ec_slave_config_t *sc)
fp@2589: {
fp@2589:     uint32_t config_index;
fp@2589:     int ret;
fp@2589: 
fp@2589:     if (sc) {
fp@2589:         config_index = sc->index;
fp@2589:     }
fp@2589:     else {
fp@2589:         config_index = 0xFFFFFFFF;
fp@2589:     }
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SELECT_REF_CLOCK, config_index);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to select reference clock: %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_master(ec_master_t *master, ec_master_info_t *master_info)
fp@1497: {
fp@1508:     ec_ioctl_master_t data;
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to get master info: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1508:     }
fp@1508: 
fp@1508:     master_info->slave_count = data.slave_count;
fp@1508:     master_info->link_up = data.devices[0].link_state;
martin@1579:     master_info->scan_busy = data.scan_busy;
fp@1508:     master_info->app_time = data.app_time;
fp@1508:     return 0;
fp@1497: }
fp@1497: 
fp@2589: /****************************************************************************/
fp@1497: 
fp@1510: int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
fp@1341:         ec_slave_info_t *slave_info)
fp@1341: {
fp@1341:     ec_ioctl_slave_t data;
fp@2589:     int ret, i;
fp@1341: 
fp@1510:     data.position = slave_position;
fp@1341: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to get slave info: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
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@2589:     for (i = 0; i < EC_MAX_PORTS; i++) {
fp@2589:         slave_info->ports[i].desc = data.ports[i].desc;
fp@2589:         slave_info->ports[i].link.link_up = data.ports[i].link.link_up;
fp@2589:         slave_info->ports[i].link.loop_closed =
fp@2246:             data.ports[i].link.loop_closed;
fp@2589:         slave_info->ports[i].link.signal_detected =
fp@2246:             data.ports[i].link.signal_detected;
fp@2589:         slave_info->ports[i].receive_time = data.ports[i].receive_time;
fp@2589:         slave_info->ports[i].next_slave = data.ports[i].next_slave;
fp@2589:         slave_info->ports[i].delay_to_next_dc =
fp@2246:             data.ports[i].delay_to_next_dc;
ch1010858@1983:     }
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@1593:     strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
fp@1341:     return 0;
fp@1341: }
fp@1341: 
fp@2589: /****************************************************************************/
fp@1341: 
fp@1510: int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
fp@1510:         uint8_t sync_index, ec_sync_info_t *sync)
fp@1510: {
fp@1804:     ec_ioctl_slave_sync_t data;
fp@2589:     int ret;
fp@2589: 
fp@2589:     if (sync_index >= EC_MAX_SYNC_MANAGERS) {
fp@1510:         return -ENOENT;
fp@2589:     }
fp@1510: 
fp@1510:     memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
fp@1510:     data.slave_position = slave_position;
fp@1510:     data.sync_index = sync_index;
fp@1510: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1510:         fprintf(stderr, "Failed to get sync manager information: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1510:     }
fp@1510: 
fp@1510:     sync->index = sync_index;
fp@1804:     sync->dir = EC_READ_BIT(&data.control_register, 2) ?
fp@1510:         EC_DIR_OUTPUT : EC_DIR_INPUT;
fp@1510:     sync->n_pdos = data.pdo_count;
fp@1510:     sync->pdos = NULL;
fp@1510:     sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?
fp@1510:         EC_WD_ENABLE : EC_WD_DISABLE;
fp@1510: 
fp@1510:     return 0;
fp@1510: }
fp@1510: 
fp@2589: /****************************************************************************/
fp@1510: 
fp@1510: int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
fp@1510:         uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
fp@1510: {
fp@1804:     ec_ioctl_slave_sync_pdo_t data;
fp@2589:     int ret;
fp@1510: 
fp@1510:     if (sync_index >= EC_MAX_SYNC_MANAGERS)
fp@1510:         return -ENOENT;
fp@1510: 
fp@1510:     memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
fp@1510:     data.slave_position = slave_position;
fp@1510:     data.sync_index = sync_index;
fp@1510:     data.pdo_pos = pos;
fp@1510: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1510:         fprintf(stderr, "Failed to get pdo information: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1510:     }
fp@1510: 
fp@1510:     pdo->index = data.index;
fp@1510:     pdo->n_entries = data.entry_count;
fp@1510:     pdo->entries = NULL;
fp@1510: 
fp@1510:     return 0;
fp@1510: }
fp@1510: 
fp@2589: /****************************************************************************/
fp@1510: 
fp@1510: int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
fp@1510:         uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
fp@1510:         ec_pdo_entry_info_t *entry)
fp@1510: {
fp@1804:     ec_ioctl_slave_sync_pdo_entry_t data;
fp@2589:     int ret;
fp@1510: 
fp@1510:     if (sync_index >= EC_MAX_SYNC_MANAGERS)
fp@1510:         return -ENOENT;
fp@1510: 
fp@1510:     memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
fp@1510:     data.slave_position = slave_position;
fp@1510:     data.sync_index = sync_index;
fp@1510:     data.pdo_pos = pdo_pos;
fp@1510:     data.entry_pos = entry_pos;
fp@1510: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1510:         fprintf(stderr, "Failed to get pdo entry information: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1510:     }
fp@1510: 
fp@1510:     entry->index = data.index;
fp@1510:     entry->subindex = data.subindex;
fp@1510:     entry->bit_length = data.bit_length;
fp@1510: 
fp@1510:     return 0;
fp@1510: }
fp@1510: 
fp@2589: /****************************************************************************/
fp@1510: 
fp@1510: int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
uecasm@2622:         uint16_t index, uint8_t subindex, const uint8_t *data,
fp@1510:         size_t data_size, uint32_t *abort_code)
fp@1510: {
fp@1510:     ec_ioctl_slave_sdo_download_t download;
fp@2589:     int ret;
fp@1510: 
fp@1510:     download.slave_position = slave_position;
fp@1510:     download.sdo_index = index;
fp@1510:     download.sdo_entry_subindex = subindex;
fp@2150:     download.complete_access = 0;
fp@2150:     download.data_size = data_size;
fp@2150:     download.data = data;
fp@2150: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
fp@2150:             *abort_code = download.abort_code;
fp@2150:         }
fp@2150:         fprintf(stderr, "Failed to execute SDO download: %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@2150: 
fp@2150: int ecrt_master_sdo_download_complete(ec_master_t *master,
uecasm@2622:         uint16_t slave_position, uint16_t index, const uint8_t *data,
fp@2150:         size_t data_size, uint32_t *abort_code)
fp@2150: {
fp@2150:     ec_ioctl_slave_sdo_download_t download;
fp@2589:     int ret;
fp@2150: 
fp@2150:     download.slave_position = slave_position;
fp@2150:     download.sdo_index = index;
fp@2150:     download.sdo_entry_subindex = 0;
fp@2150:     download.complete_access = 1;
fp@1510:     download.data_size = data_size;
fp@1510:     download.data = data;
fp@1510: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
fp@1911:             *abort_code = download.abort_code;
fp@1510:         }
fp@1510:         fprintf(stderr, "Failed to execute SDO download: %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@1510: 
fp@1510: int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
fp@1510:         uint16_t index, uint8_t subindex, uint8_t *target,
fp@1510:         size_t target_size, size_t *result_size, uint32_t *abort_code)
fp@1510: {
fp@1510:     ec_ioctl_slave_sdo_upload_t upload;
fp@2589:     int ret;
fp@1510: 
fp@1510:     upload.slave_position = slave_position;
fp@1510:     upload.sdo_index = index;
fp@1510:     upload.sdo_entry_subindex = subindex;
fp@1510:     upload.target_size = target_size;
fp@1510:     upload.target = target;
fp@1510: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
fp@1911:             *abort_code = upload.abort_code;
fp@1510:         }
fp@1510:         fprintf(stderr, "Failed to execute SDO upload: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1510:     }
fp@1510: 
fp@1510:     *result_size = upload.data_size;
fp@1510:     return 0;
fp@1510: }
fp@1510: 
fp@2589: /****************************************************************************/
fp@1510: 
fp@1913: int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
fp@1952:         uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
fp@1952:         uint16_t *error_code)
fp@1913: {
fp@1913:     ec_ioctl_slave_soe_write_t io;
fp@2589:     int ret;
fp@1913: 
fp@1913:     io.slave_position = slave_position;
fp@1952:     io.drive_no = drive_no;
fp@1913:     io.idn = idn;
fp@1913:     io.data_size = data_size;
fp@1913:     io.data = data;
fp@1913: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
fp@1913:             *error_code = io.error_code;
fp@1913:         }
fp@2589:         fprintf(stderr, "Failed to write 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: /****************************************************************************/
fp@1913: 
fp@1913: int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
fp@1952:         uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
fp@1947:         size_t *result_size, uint16_t *error_code)
fp@1913: {
fp@1913:     ec_ioctl_slave_soe_read_t io;
fp@2589:     int ret;
fp@1913: 
fp@1913:     io.slave_position = slave_position;
fp@1952:     io.drive_no = drive_no;
fp@1913:     io.idn = idn;
fp@1913:     io.mem_size = target_size;
fp@1913:     io.data = target;
fp@1913: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
fp@1913:             *error_code = io.error_code;
fp@1913:         }
fp@2589:         fprintf(stderr, "Failed to read IDN: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@1913:     }
fp@1913: 
fp@1913:     *result_size = io.data_size;
fp@1913:     return 0;
fp@1913: }
fp@1913: 
fp@2589: /****************************************************************************/
fp@1913: 
fp@1244: int ecrt_master_activate(ec_master_t *master)
fp@1244: {
fp@2589:     ec_ioctl_master_activate_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_ACTIVATE, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1247:         fprintf(stderr, "Failed to activate master: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return -EC_IOCTL_ERRNO(ret);
fp@2589:     }
fp@2589: 
fp@2589:     master->process_data_size = io.process_data_size;
fp@1247: 
fp@1258:     if (master->process_data_size) {
fp@2589: #ifdef USE_RTDM
fp@2589:         /* memory-mapping was already done in kernel. The user-space addess is
fp@2589:          * provided in the ioctl data.
fp@2589:          */
fp@2589:         master->process_data = io.process_data;
fp@2589: #else
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@2589:             fprintf(stderr, "Failed to map process data: %s\n",
fp@2589:                     strerror(errno));
fp@1258:             master->process_data = NULL;
fp@1258:             master->process_data_size = 0;
fp@2589:             return -errno;
fp@1258:         }
fp@2589: #endif
fp@1258: 
fp@1258:         // Access the mapped region to cause the initial page fault
fp@2589:         master->process_data[0] = 0x00;
fp@2589:     }
fp@2589: 
fp@2589:     return 0;
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@2589: 
fp@2589: void ecrt_master_deactivate(ec_master_t *master)
fp@2589: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to deactivate master: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:         return;
fp@2589:     }
fp@2589: 
fp@2589:     ec_master_clear_config(master);
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@2589: 
fp@2589: int ecrt_master_set_send_interval(ec_master_t *master,
fp@2589:         size_t send_interval_us)
fp@2589: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, &send_interval_us);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to set send interval: %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: 
dave@2630: size_t ecrt_master_send(ec_master_t *master)
dave@2630: {
dave@2630:     int ret;
dave@2630:     size_t sent_bytes = 0;
dave@2630: 
dave@2630:     ret = ioctl(master->fd, EC_IOCTL_SEND, &sent_bytes);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to send: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
dave@2630: 
dave@2630:     return sent_bytes;
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@2589: 
fp@2589: void ecrt_master_receive(ec_master_t *master)
fp@2589: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_RECEIVE, NULL);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to receive: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@2589: 
fp@2589: void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
fp@2589: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_MASTER_STATE, state);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to get master state: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@2589: 
fp@2589: int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx,
fp@2589:         ec_master_link_state_t *state)
fp@2589: {
fp@2589:     ec_ioctl_link_state_t io;
fp@2589:     int ret;
fp@2589: 
fp@2589:     io.dev_idx = dev_idx;
fp@2589:     io.state = state;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to get link state: %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: void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
fp@2589: {
fp@2589:     ec_ioctl_app_time_t data;
fp@2589:     int ret;
fp@2589: 
fp@2589:     data.app_time = app_time;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &data);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to set application time: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@2589: 
fp@2589: void ecrt_master_sync_reference_clock(ec_master_t *master)
fp@2589: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to sync reference clock: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@2589: 
fp@2589: void ecrt_master_sync_slave_clocks(ec_master_t *master)
fp@2589: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to sync slave clocks: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@1244: }
fp@1244: 
fp@1244: /*****************************************************************************/
fp@1244: 
fp@2589: int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
fp@2589: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_REF_CLOCK_TIME, time);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
gavinl@2618:         ret = EC_IOCTL_ERRNO(ret);
gavinl@2618:         if (ret != EIO && ret != ENXIO) {
gavinl@2618:             // do not log if no refclk or no refclk time yet
gavinl@2618:             fprintf(stderr, "Failed to get reference clock time: %s\n",
gavinl@2618:                     strerror(ret));
gavinl@2618:         }
gavinl@2618:         return -ret;
gavinl@2618:     }
gavinl@2618: 
gavinl@2618:     return 0;
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@1535: 
fp@1535: void ecrt_master_sync_monitor_queue(ec_master_t *master)
fp@1535: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1535:         fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/
fp@1535: 
fp@1535: uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
fp@1535: {
fp@1535:     uint32_t time_diff;
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@1535:         time_diff = 0xffffffff;
fp@1535:         fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@1535:     }
fp@1535: 
fp@1535:     return time_diff;
fp@1535: }
fp@1535: 
fp@2589: /****************************************************************************/
fp@2009: 
fp@2009: void ecrt_master_reset(ec_master_t *master)
fp@2009: {
fp@2589:     int ret;
fp@2589: 
fp@2589:     ret = ioctl(master->fd, EC_IOCTL_RESET, NULL);
fp@2589:     if (EC_IOCTL_IS_ERROR(ret)) {
fp@2589:         fprintf(stderr, "Failed to reset master: %s\n",
fp@2589:                 strerror(EC_IOCTL_ERRNO(ret)));
fp@2589:     }
fp@2589: }
fp@2589: 
fp@2589: /****************************************************************************/