diff -r f4313f5aba88 -r 3bdd7a747fae lib/master.c
--- a/lib/master.c	Thu Sep 20 09:20:51 2012 +0200
+++ b/lib/master.c	Thu Sep 20 15:28:25 2012 +0200
@@ -2,7 +2,7 @@
  *
  *  $Id$
  *
- *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
+ *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
  *
  *  This file is part of the IgH EtherCAT master userspace library.
  *
@@ -30,25 +30,25 @@
 
 #include <unistd.h> /* close() */
 #include <stdlib.h>
-#include <sys/ioctl.h>
 #include <stdio.h>
 #include <errno.h>
 #include <string.h>
 #include <sys/mman.h>
 
+#include "ioctl.h"
 #include "master.h"
 #include "domain.h"
 #include "slave_config.h"
-#include "master/ioctl.h"
 
 /****************************************************************************/
 
 int ecrt_master_reserve(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_REQUEST, NULL) == -1) {
+    int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to reserve master: %s\n",
-                strerror(errno));
-        return -1;
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
     return 0;
 }
@@ -88,7 +88,11 @@
     ec_master_clear_config(master);
 
     if (master->fd != -1) {
+#if USE_RTDM
+        rt_dev_close(master->fd);
+#else
         close(master->fd);
+#endif
     }
 }
 
@@ -121,8 +125,9 @@
     }
 
     index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
-    if (index == -1) {
-        fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));
+    if (EC_IOCTL_IS_ERROR(index)) {
+        fprintf(stderr, "Failed to create domain: %s\n",
+                strerror(EC_IOCTL_ERRNO(index)));
         free(domain);
         return 0;
     }
@@ -160,6 +165,7 @@
 {
     ec_ioctl_config_t data;
     ec_slave_config_t *sc;
+    int ret;
 
     sc = malloc(sizeof(ec_slave_config_t));
     if (!sc) {
@@ -172,9 +178,10 @@
     data.vendor_id = vendor_id;
     data.product_code = product_code;
 
-    if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
+    ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to create slave config: %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
         free(sc);
         return 0;
     }
@@ -194,13 +201,16 @@
 
 /****************************************************************************/
 
-int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)
+int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
 {
     ec_ioctl_master_t data;
-
-    if (ioctl(master->fd, EC_IOCTL_MASTER, &data) < 0) {
-        fprintf(stderr, "Failed to get master info: %s\n", strerror(errno));
-        return -1;
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to get master info: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     master_info->slave_count = data.slave_count;
@@ -216,13 +226,15 @@
         ec_slave_info_t *slave_info)
 {
     ec_ioctl_slave_t data;
-    int i;
+    int ret, i;
 
     data.position = slave_position;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
-        fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno));
-        return -1;
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to get slave info: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     slave_info->position = data.position;
@@ -232,7 +244,7 @@
     slave_info->serial_number = data.serial_number;
     slave_info->alias = data.alias;
     slave_info->current_on_ebus = data.current_on_ebus;
-    for ( i = 0; i < EC_MAX_PORTS; i++ ) {
+    for (i = 0; i < EC_MAX_PORTS; i++) {
         slave_info->ports[i].desc = data.ports[i].desc;
         slave_info->ports[i].link.link_up = data.ports[i].link.link_up;
         slave_info->ports[i].link.loop_closed =
@@ -258,6 +270,7 @@
         uint8_t sync_index, ec_sync_info_t *sync)
 {
     ec_ioctl_slave_sync_t data;
+    int ret;
 
     if (sync_index >= EC_MAX_SYNC_MANAGERS) {
         return -ENOENT;
@@ -267,10 +280,11 @@
     data.slave_position = slave_position;
     data.sync_index = sync_index;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data) == -1) {
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to get sync manager information: %s\n",
-                strerror(errno));
-        return -1; // FIXME
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     sync->index = sync_index;
@@ -290,6 +304,7 @@
         uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
 {
     ec_ioctl_slave_sync_pdo_t data;
+    int ret;
 
     if (sync_index >= EC_MAX_SYNC_MANAGERS)
         return -ENOENT;
@@ -299,10 +314,11 @@
     data.sync_index = sync_index;
     data.pdo_pos = pos;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data) == -1) {
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to get pdo information: %s\n",
-                strerror(errno));
-        return -1; // FIXME
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     pdo->index = data.index;
@@ -319,6 +335,7 @@
         ec_pdo_entry_info_t *entry)
 {
     ec_ioctl_slave_sync_pdo_entry_t data;
+    int ret;
 
     if (sync_index >= EC_MAX_SYNC_MANAGERS)
         return -ENOENT;
@@ -329,10 +346,11 @@
     data.pdo_pos = pdo_pos;
     data.entry_pos = entry_pos;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data) == -1) {
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to get pdo entry information: %s\n",
-                strerror(errno));
-        return -1; // FIXME
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     entry->index = data.index;
@@ -349,6 +367,7 @@
         size_t data_size, uint32_t *abort_code)
 {
     ec_ioctl_slave_sdo_download_t download;
+    int ret;
 
     download.slave_position = slave_position;
     download.sdo_index = index;
@@ -357,13 +376,14 @@
     download.data_size = data_size;
     download.data = data;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
-        if (errno == EIO && abort_code) {
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
             *abort_code = download.abort_code;
         }
         fprintf(stderr, "Failed to execute SDO download: %s\n",
-            strerror(errno));
-        return -1;
+            strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     return 0;
@@ -376,6 +396,7 @@
         size_t data_size, uint32_t *abort_code)
 {
     ec_ioctl_slave_sdo_download_t download;
+    int ret;
 
     download.slave_position = slave_position;
     download.sdo_index = index;
@@ -384,13 +405,14 @@
     download.data_size = data_size;
     download.data = data;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
-        if (errno == EIO && abort_code) {
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
             *abort_code = download.abort_code;
         }
         fprintf(stderr, "Failed to execute SDO download: %s\n",
-            strerror(errno));
-        return -1;
+            strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     return 0;
@@ -403,6 +425,7 @@
         size_t target_size, size_t *result_size, uint32_t *abort_code)
 {
     ec_ioctl_slave_sdo_upload_t upload;
+    int ret;
 
     upload.slave_position = slave_position;
     upload.sdo_index = index;
@@ -410,13 +433,14 @@
     upload.target_size = target_size;
     upload.target = target;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {
-        if (errno == EIO && abort_code) {
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
             *abort_code = upload.abort_code;
         }
         fprintf(stderr, "Failed to execute SDO upload: %s\n",
-                strerror(errno));
-        return -1;
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     *result_size = upload.data_size;
@@ -430,6 +454,7 @@
         uint16_t *error_code)
 {
     ec_ioctl_slave_soe_write_t io;
+    int ret;
 
     io.slave_position = slave_position;
     io.drive_no = drive_no;
@@ -437,12 +462,14 @@
     io.data_size = data_size;
     io.data = data;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io) == -1) {
-        if (errno == EIO && error_code) {
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
             *error_code = io.error_code;
         }
-        fprintf(stderr, "Failed to write IDN: %s\n", strerror(errno));
-        return -1;
+        fprintf(stderr, "Failed to write IDN: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     return 0;
@@ -455,6 +482,7 @@
         size_t *result_size, uint16_t *error_code)
 {
     ec_ioctl_slave_soe_read_t io;
+    int ret;
 
     io.slave_position = slave_position;
     io.drive_no = drive_no;
@@ -462,12 +490,14 @@
     io.mem_size = target_size;
     io.data = target;
 
-    if (ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io) == -1) {
-        if (errno == EIO && error_code) {
+    ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
             *error_code = io.error_code;
         }
-        fprintf(stderr, "Failed to read IDN: %s\n", strerror(errno));
-        return -1;
+        fprintf(stderr, "Failed to read IDN: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     *result_size = io.data_size;
@@ -478,23 +508,35 @@
 
 int ecrt_master_activate(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
-                &master->process_data_size) == -1) {
+    ec_ioctl_master_activate_t io;
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_ACTIVATE, &io);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to activate master: %s\n",
-                strerror(errno));
-        return -1; // FIXME
-    }
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
+    }
+
+    master->process_data_size = io.process_data_size;
 
     if (master->process_data_size) {
+#ifdef USE_RTDM
+        /* memory-mapping was already done in kernel. The user-space addess is
+         * provided in the ioctl data.
+         */
+        master->process_data = io.process_data;
+#else
         master->process_data = mmap(0, master->process_data_size,
                 PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);
         if (master->process_data == MAP_FAILED) {
-            fprintf(stderr, "Failed to map process data: %s",
+            fprintf(stderr, "Failed to map process data: %s\n",
                     strerror(errno));
             master->process_data = NULL;
             master->process_data_size = 0;
-            return -1; // FIXME
+            return -errno;
         }
+#endif
 
         // Access the mapped region to cause the initial page fault
         master->process_data[0] = 0x00;
@@ -507,8 +549,12 @@
 
 void ecrt_master_deactivate(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) {
-        fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to deactivate master: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
         return;
     }
 
@@ -520,12 +566,15 @@
 int ecrt_master_set_send_interval(ec_master_t *master,
         size_t send_interval_us)
 {
-    if (ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL,
-                &send_interval_us) == -1) {
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, &send_interval_us);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to set send interval: %s\n",
-                strerror(errno));
-        return -1; // FIXME
-    }
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
+    }
+
     return 0;
 }
 
@@ -533,8 +582,12 @@
 
 void ecrt_master_send(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
-        fprintf(stderr, "Failed to send: %s\n", strerror(errno));
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_SEND, NULL);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to send: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
     }
 }
 
@@ -542,8 +595,12 @@
 
 void ecrt_master_receive(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
-        fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_RECEIVE, NULL);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to receive: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
     }
 }
 
@@ -551,8 +608,12 @@
 
 void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
 {
-    if (ioctl(master->fd, EC_IOCTL_MASTER_STATE, state) == -1) {
-        fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_MASTER_STATE, state);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to get master state: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
     }
 }
 
@@ -562,12 +623,16 @@
         ec_master_link_state_t *state)
 {
     ec_ioctl_link_state_t io;
+    int ret;
 
     io.dev_idx = dev_idx;
     io.state = state;
-    if (ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io) == -1) {
-        fprintf(stderr, "Failed to get link state: %s\n", strerror(errno));
-        return -errno;
+
+    ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to get link state: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
+        return -EC_IOCTL_ERRNO(ret);
     }
 
     return 0;
@@ -578,12 +643,14 @@
 void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
 {
     ec_ioctl_app_time_t data;
+    int ret;
 
     data.app_time = app_time;
 
-    if (ioctl(master->fd, EC_IOCTL_APP_TIME, &data) == -1) {
+    ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &data);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to set application time: %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
     }
 }
 
@@ -591,9 +658,12 @@
 
 void ecrt_master_sync_reference_clock(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL) == -1) {
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to sync reference clock: %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
     }
 }
 
@@ -601,8 +671,12 @@
 
 void ecrt_master_sync_slave_clocks(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL) == -1) {
-        fprintf(stderr, "Failed to sync slave clocks: %s\n", strerror(errno));
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to sync slave clocks: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
     }
 }
 
@@ -610,9 +684,12 @@
 
 void ecrt_master_sync_monitor_queue(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL) == -1) {
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
     }
 }
 
@@ -621,11 +698,13 @@
 uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
 {
     uint32_t time_diff;
-
-    if (ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff) == -1) {
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff);
+    if (EC_IOCTL_IS_ERROR(ret)) {
         time_diff = 0xffffffff;
         fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
-                strerror(errno));
+                strerror(EC_IOCTL_ERRNO(ret)));
     }
 
     return time_diff;
@@ -635,9 +714,13 @@
 
 void ecrt_master_reset(ec_master_t *master)
 {
-    if (ioctl(master->fd, EC_IOCTL_RESET, NULL) == -1) {
-        fprintf(stderr, "Failed to reset master: %s\n", strerror(errno));
-    }
-}
-
-/****************************************************************************/
+    int ret;
+
+    ret = ioctl(master->fd, EC_IOCTL_RESET, NULL);
+    if (EC_IOCTL_IS_ERROR(ret)) {
+        fprintf(stderr, "Failed to reset master: %s\n",
+                strerror(EC_IOCTL_ERRNO(ret)));
+    }
+}
+
+/****************************************************************************/