# HG changeset patch # User Florian Pose # Date 1223559110 0 # Node ID 38b7e05b20c1b305017c7ece6095563d907a6fd0 # Parent c19d273a9e762b884cbba9311ec38d4cbd9ea81a Added some slave configuration methods. diff -r c19d273a9e76 -r 38b7e05b20c1 examples/user/main.c --- a/examples/user/main.c Thu Oct 09 13:24:17 2008 +0000 +++ b/examples/user/main.c Thu Oct 09 13:31:50 2008 +0000 @@ -1,6 +1,33 @@ /***************************************************************************** * - * $Id$ + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * 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. * ****************************************************************************/ @@ -13,15 +40,132 @@ #include #include +/****************************************************************************/ + #include "ecrt.h" +/****************************************************************************/ + +// Optional features +#define CONFIGURE_PDOS 1 +#define EL3152_ALT_PDOS 0 +#define SDO_ACCESS 0 +#define VOE_ACCESS 0 + #define PRIORITY 1 +#define BusCouplerPos 0, 0 +#define AnaOutSlavePos 0, 1 +#define AnaInSlavePos 0, 2 +#define DigOutSlavePos 0, 3 + +#define Beckhoff_EK1100 0x00000002, 0x044C2C52 +#define Beckhoff_EL2004 0x00000002, 0x07D43052 +#define Beckhoff_EL3152 0x00000002, 0x0c503052 +#define Beckhoff_EL4102 0x00000002, 0x10063052 + /****************************************************************************/ static unsigned int sig_alarms = 0; static unsigned int user_alarms = 0; +// offsets for Pdo entries +static unsigned int off_ana_in; +static unsigned int off_ana_out; +static unsigned int off_dig_out; + +const static ec_pdo_entry_reg_t domain1_regs[] = { +#if EL3152_ALT_PDOS + {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in}, +#else + {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in}, +#endif + {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out}, + {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out}, + {} +}; + +static ec_slave_config_t *sc_ana_in = NULL; + +/*****************************************************************************/ + +#if CONFIGURE_PDOS + +// Analog in -------------------------- + +static ec_pdo_entry_info_t el3152_pdo_entries[] = { + {0x3101, 1, 8}, // channel 1 status + {0x3101, 2, 16}, // channel 1 value + {0x3102, 1, 8}, // channel 2 status + {0x3102, 2, 16}, // channel 2 value + {0x6401, 1, 16}, // channel 1 value (alt.) + {0x6401, 2, 16} // channel 2 value (alt.) +}; + +#if EL3152_ALT_PDOS +static ec_pdo_info_t el3152_pdos[] = { + {0x1A10, 2, el3152_pdo_entries + 4}, +}; + +static ec_sync_info_t el3152_syncs[] = { + {2, EC_DIR_OUTPUT}, + {3, EC_DIR_INPUT, 1, el3152_pdos}, + {0xff} +}; +#else +static ec_pdo_info_t el3152_pdos[] = { + {0x1A00, 2, el3152_pdo_entries}, + {0x1A01, 2, el3152_pdo_entries + 2} +}; + +static ec_sync_info_t el3152_syncs[] = { + {2, EC_DIR_OUTPUT}, + {3, EC_DIR_INPUT, 2, el3152_pdos}, + {0xff} +}; +#endif + +// Analog out ------------------------- + +static ec_pdo_entry_info_t el4102_pdo_entries[] = { + {0x3001, 1, 16}, // channel 1 value + {0x3002, 1, 16}, // channel 2 value +}; + +static ec_pdo_info_t el4102_pdos[] = { + {0x1600, 1, el4102_pdo_entries}, + {0x1601, 1, el4102_pdo_entries + 1} +}; + +static ec_sync_info_t el4102_syncs[] = { + {2, EC_DIR_OUTPUT, 2, el4102_pdos}, + {3, EC_DIR_INPUT}, + {0xff} +}; + +// Digital out ------------------------ + +static ec_pdo_entry_info_t el2004_channels[] = { + {0x3001, 1, 1}, // Value 1 + {0x3001, 2, 1}, // Value 2 + {0x3001, 3, 1}, // Value 3 + {0x3001, 4, 1} // Value 4 +}; + +static ec_pdo_info_t el2004_pdos[] = { + {0x1600, 1, &el2004_channels[0]}, + {0x1601, 1, &el2004_channels[1]}, + {0x1602, 1, &el2004_channels[2]}, + {0x1603, 1, &el2004_channels[3]} +}; + +static ec_sync_info_t el2004_syncs[] = { + {0, EC_DIR_OUTPUT, 4, el2004_pdos}, + {1, EC_DIR_INPUT}, + {0xff} +}; +#endif + /****************************************************************************/ void signal_handler(int signum) { @@ -37,7 +181,7 @@ int main(int argc, char **argv) { ec_master_t *master; - ec_domain_t *domain; + ec_domain_t *domain1; ec_slave_config_t *sc; struct sigaction sa; struct itimerval tv; @@ -46,14 +190,56 @@ if (!master) return -1; - domain = ecrt_master_create_domain(master); - if (!domain) - return -1; - - sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52); + domain1 = ecrt_master_create_domain(master); + if (!domain1) + return -1; + + if (!(sc_ana_in = ecrt_master_slave_config( + master, AnaInSlavePos, Beckhoff_EL3152))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + +#if CONFIGURE_PDOS + printf("Configuring Pdos...\n"); + if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) { + fprintf(stderr, "Failed to configure Pdos.\n"); + return -1; + } + + if (!(sc = ecrt_master_slave_config( + master, AnaOutSlavePos, Beckhoff_EL4102))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) { + fprintf(stderr, "Failed to configure Pdos.\n"); + return -1; + } + + if (!(sc = ecrt_master_slave_config( + master, DigOutSlavePos, Beckhoff_EL2004))) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) { + fprintf(stderr, "Failed to configure Pdos.\n"); + return -1; + } +#endif + + // Create configuration for bus coupler + sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100); if (!sc) return -1; + if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { + fprintf(stderr, "Pdo entry registration failed!\n"); + return -1; + } + printf("Activating master...\n"); if (ecrt_master_activate(master)) return -1; @@ -75,7 +261,7 @@ printf("Starting timer...\n"); tv.it_interval.tv_sec = 0; - tv.it_interval.tv_usec = 100000; + tv.it_interval.tv_usec = 10000; tv.it_value.tv_sec = 0; tv.it_value.tv_usec = 1000; if (setitimer(ITIMER_REAL, &tv, NULL)) { @@ -87,7 +273,7 @@ while (1) { sleep(1); -#if 1 +#if 0 struct timeval t; gettimeofday(&t, NULL); printf("%u.%06u\n", t.tv_sec, t.tv_usec); diff -r c19d273a9e76 -r 38b7e05b20c1 lib/Makefile.am --- a/lib/Makefile.am Thu Oct 09 13:24:17 2008 +0000 +++ b/lib/Makefile.am Thu Oct 09 13:31:50 2008 +0000 @@ -41,7 +41,9 @@ libethercat_la_CFLAGS = -I$(srcdir)/.. libethercat_la_SOURCES = \ common.c \ - master.c + domain.c \ + master.c \ + slave_config.c noinst_HEADERS = \ domain.h \ diff -r c19d273a9e76 -r 38b7e05b20c1 lib/domain.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/domain.c Thu Oct 09 13:31:50 2008 +0000 @@ -0,0 +1,99 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * 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. + * + *****************************************************************************/ + +/** + \file + EtherCAT domain methods. +*/ + +/*****************************************************************************/ + +#include "domain.h" + +/*****************************************************************************/ + +int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain, + const ec_pdo_entry_reg_t *regs) +{ + const ec_pdo_entry_reg_t *reg; + ec_slave_config_t *sc; + int ret; + + for (reg = regs; reg->index; reg++) { + if (!(sc = ecrt_master_slave_config(domain->master, reg->alias, + reg->position, reg->vendor_id, reg->product_code))) + return -1; + + if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index, + reg->subindex, domain, reg->bit_position)) < 0) + return -1; + + *reg->offset = ret; + } + + return 0; +} + +/*****************************************************************************/ + +size_t ecrt_domain_size(ec_domain_t *domain) +{ + return 0; +} + +/*****************************************************************************/ + +uint8_t *ecrt_domain_data(ec_domain_t *domain) +{ + return 0; +} + +/*****************************************************************************/ + +void ecrt_domain_process(ec_domain_t *domain) +{ +} + +/*****************************************************************************/ + +void ecrt_domain_queue(ec_domain_t *domain) +{ +} + +/*****************************************************************************/ + +void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state) +{ +} + +/*****************************************************************************/ diff -r c19d273a9e76 -r 38b7e05b20c1 lib/domain.h --- a/lib/domain.h Thu Oct 09 13:24:17 2008 +0000 +++ b/lib/domain.h Thu Oct 09 13:31:50 2008 +0000 @@ -37,6 +37,7 @@ struct ec_domain { unsigned int index; + ec_master_t *master; }; /*****************************************************************************/ diff -r c19d273a9e76 -r 38b7e05b20c1 lib/master.c --- a/lib/master.c Thu Oct 09 13:24:17 2008 +0000 +++ b/lib/master.c Thu Oct 09 13:31:50 2008 +0000 @@ -63,6 +63,7 @@ } domain->index = (unsigned int) index; + domain->master = master; return domain; } @@ -94,7 +95,10 @@ return 0; } + sc->master = master; sc->index = data.config_index; + sc->alias = alias; + sc->position = position; return sc; } diff -r c19d273a9e76 -r 38b7e05b20c1 lib/slave_config.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/slave_config.c Thu Oct 09 13:31:50 2008 +0000 @@ -0,0 +1,319 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master 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 General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * 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 +#include +#include +#include +#include + +#include "slave_config.h" +#include "domain.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; +} + +/*****************************************************************************/ + +ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc, + size_t size) +{ + return 0; +} + +/*****************************************************************************/ + +void ecrt_slave_config_state(const ec_slave_config_t *sc, + ec_slave_config_state_t *state) +{ +} + +/*****************************************************************************/ diff -r c19d273a9e76 -r 38b7e05b20c1 lib/slave_config.h --- a/lib/slave_config.h Thu Oct 09 13:24:17 2008 +0000 +++ b/lib/slave_config.h Thu Oct 09 13:31:50 2008 +0000 @@ -36,7 +36,10 @@ /*****************************************************************************/ struct ec_slave_config { + ec_master_t *master; unsigned int index; + uint16_t alias; + uint16_t position; }; /*****************************************************************************/ diff -r c19d273a9e76 -r 38b7e05b20c1 master/cdev.c --- a/master/cdev.c Thu Oct 09 13:24:17 2008 +0000 +++ b/master/cdev.c Thu Oct 09 13:31:50 2008 +0000 @@ -1509,6 +1509,285 @@ return 0; } +/*****************************************************************************/ + +/** Set the direction of a sync manager. + */ +int ec_cdev_ioctl_sc_sync( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_t data; + ec_slave_config_t *sc; + unsigned int i; + int ret = 0; + + if (unlikely(!priv->requested)) { + ret = -EPERM; + goto out_return; + } + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + ret = -EFAULT; + goto out_return; + } + + if (down_interruptible(&master->master_sem)) { + ret = -EINTR; + goto out_return; + } + + if (!(sc = ec_master_get_config(master, data.config_index))) { + ret = -ESRCH; + goto out_up; + } + + for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) { + ec_direction_t dir = data.syncs[i].dir; + if (dir == EC_DIR_INPUT || dir == EC_DIR_OUTPUT) { + if (ecrt_slave_config_sync_manager(sc, i, dir)) { + ret = -EINVAL; + goto out_up; + } + } + } + +out_up: + up(&master->master_sem); +out_return: + return ret; +} + +/*****************************************************************************/ + +/** Add a Pdo to the assignment. + */ +int ec_cdev_ioctl_sc_add_pdo( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_pdo_t data; + ec_slave_config_t *sc; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ESRCH; + } + + up(&master->master_sem); // FIXME + + return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index); +} + +/*****************************************************************************/ + +/** Clears the Pdo assignment. + */ +int ec_cdev_ioctl_sc_clear_pdos( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_pdo_t data; + ec_slave_config_t *sc; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ESRCH; + } + + up(&master->master_sem); // FIXME + + ecrt_slave_config_pdo_assign_clear(sc, data.sync_index); + return 0; +} + +/*****************************************************************************/ + +/** Add an entry to a Pdo's mapping. + */ +int ec_cdev_ioctl_sc_add_entry( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_add_pdo_entry_t data; + ec_slave_config_t *sc; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ESRCH; + } + + up(&master->master_sem); // FIXME + + return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index, + data.entry_index, data.entry_subindex, data.entry_bit_length); +} + +/*****************************************************************************/ + +/** Clears the mapping of a Pdo. + */ +int ec_cdev_ioctl_sc_clear_entries( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_config_pdo_t data; + ec_slave_config_t *sc; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ESRCH; + } + + up(&master->master_sem); // FIXME + + ecrt_slave_config_pdo_mapping_clear(sc, data.index); + return 0; +} + +/*****************************************************************************/ + +/** Registers a Pdo entry. + */ +int ec_cdev_ioctl_sc_reg_pdo_entry( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_reg_pdo_entry_t data; + ec_slave_config_t *sc; + ec_domain_t *domain; + int ret; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + return -ESRCH; + } + + if (!(domain = ec_master_find_domain(master, data.domain_index))) { + up(&master->master_sem); + return -ESRCH; + } + + up(&master->master_sem); // FIXME + + ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index, + data.entry_subindex, domain, &data.bit_position); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return ret; +} + +/*****************************************************************************/ + +/** Configures an Sdo. + */ +int ec_cdev_ioctl_sc_sdo( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + ec_ioctl_sc_sdo_t data; + ec_slave_config_t *sc; + uint8_t *sdo_data = NULL; + int ret; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) + return -EFAULT; + + if (!data.size) + return -EINVAL; + + if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) { + return -ENOMEM; + } + + if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) { + kfree(sdo_data); + return -EFAULT; + } + + if (down_interruptible(&master->master_sem)) { + kfree(sdo_data); + return -EINTR; + } + + if (!(sc = ec_master_get_config(master, data.config_index))) { + up(&master->master_sem); + kfree(sdo_data); + return -ESRCH; + } + + up(&master->master_sem); // FIXME + + ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data, + data.size); + kfree(sdo_data); + return ret; +} + /****************************************************************************** * File operations *****************************************************************************/ @@ -1646,6 +1925,34 @@ if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; return ec_cdev_ioctl_receive(master, arg, priv); + case EC_IOCTL_SC_SYNC: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_sync(master, arg, priv); + case EC_IOCTL_SC_ADD_PDO: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_add_pdo(master, arg, priv); + case EC_IOCTL_SC_CLEAR_PDOS: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv); + case EC_IOCTL_SC_ADD_ENTRY: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_add_entry(master, arg, priv); + case EC_IOCTL_SC_CLEAR_ENTRIES: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_clear_entries(master, arg, priv); + case EC_IOCTL_SC_REG_PDO_ENTRY: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv); + case EC_IOCTL_SC_SDO: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_sc_sdo(master, arg, priv); default: return -ENOTTY; } diff -r c19d273a9e76 -r 38b7e05b20c1 master/ioctl.h --- a/master/ioctl.h Thu Oct 09 13:24:17 2008 +0000 +++ b/master/ioctl.h Thu Oct 09 13:31:50 2008 +0000 @@ -85,6 +85,13 @@ #define EC_IOCTL_ACTIVATE EC_IO(0x19) #define EC_IOCTL_SEND EC_IO(0x1a) #define EC_IOCTL_RECEIVE EC_IO(0x1b) +#define EC_IOCTL_SC_SYNC EC_IOW(0x1c, ec_ioctl_config_t) +#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x1c, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x1d, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x1e, ec_ioctl_add_pdo_entry_t) +#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x1f, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t) +#define EC_IOCTL_SC_SDO EC_IOW(0x21, ec_ioctl_sc_sdo_t) #define EC_IOCTL_STRING_SIZE 64 @@ -368,6 +375,41 @@ /*****************************************************************************/ +typedef struct { + // inputs + uint32_t config_index; + uint16_t pdo_index; + uint16_t entry_index; + uint8_t entry_subindex; + uint8_t entry_bit_length; +} ec_ioctl_add_pdo_entry_t; + +/*****************************************************************************/ + +typedef struct { + // inputs + uint32_t config_index; + uint16_t entry_index; + uint8_t entry_subindex; + uint32_t domain_index; + + // outputs + unsigned int bit_position; +} ec_ioctl_reg_pdo_entry_t; + +/*****************************************************************************/ + +typedef struct { + // inputs + uint32_t config_index; + uint16_t index; + uint8_t subindex; + const uint8_t *data; + size_t size; +} ec_ioctl_sc_sdo_t; + +/*****************************************************************************/ + /** \endcond */ #endif