# HG changeset patch # User Florian Pose # Date 1222944340 0 # Node ID 4042bda8c98057f1b3b5bfa1f97ec5e31d0d0a57 # Parent 9f52fc9562aee62c7982708dc0c9dce92911f8cd Creating slave configurations. diff -r 9f52fc9562ae -r 4042bda8c980 examples/user/main.c --- a/examples/user/main.c Thu Oct 02 10:44:43 2008 +0000 +++ b/examples/user/main.c Thu Oct 02 10:45:40 2008 +0000 @@ -12,6 +12,7 @@ { ec_master_t *master; ec_domain_t *domain; + ec_slave_config_t *sc; master = ecrt_request_master(0); if (!master) @@ -21,6 +22,10 @@ if (!domain) return -1; + sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52); + if (!sc) + return -1; + while (1) { sleep(1); } diff -r 9f52fc9562ae -r 4042bda8c980 lib/Makefile.am --- a/lib/Makefile.am Thu Oct 02 10:44:43 2008 +0000 +++ b/lib/Makefile.am Thu Oct 02 10:45:40 2008 +0000 @@ -45,6 +45,7 @@ noinst_HEADERS = \ domain.h \ - master.h + master.h \ + slave_config.h #------------------------------------------------------------------------------ diff -r 9f52fc9562ae -r 4042bda8c980 lib/master.c --- a/lib/master.c Thu Oct 02 10:44:43 2008 +0000 +++ b/lib/master.c Thu Oct 02 10:45:40 2008 +0000 @@ -39,6 +39,7 @@ #include "master.h" #include "domain.h" +#include "slave_config.h" #include "master/ioctl.h" /*****************************************************************************/ @@ -71,7 +72,30 @@ uint16_t alias, uint16_t position, uint32_t vendor_id, uint32_t product_code) { - return 0; + ec_ioctl_config_t data; + ec_slave_config_t *sc; + int index; + + sc = malloc(sizeof(ec_slave_config_t)); + if (!sc) { + fprintf(stderr, "Failed to allocate memory.\n"); + return 0; + } + + data.alias = alias; + data.position = position; + data.vendor_id = vendor_id; + data.product_code = product_code; + + if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) { + fprintf(stderr, "Failed to create slave config: %s\n", + strerror(errno)); + free(sc); + return 0; + } + + sc->index = data.config_index; + return sc; } /*****************************************************************************/ diff -r 9f52fc9562ae -r 4042bda8c980 lib/slave_config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/lib/slave_config.h Thu Oct 02 10:45:40 2008 +0000 @@ -0,0 +1,42 @@ +/****************************************************************************** + * + * $Id$ + * + * 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/ecrt.h" + +/*****************************************************************************/ + +struct ec_slave_config { + unsigned int index; +}; + +/*****************************************************************************/ diff -r 9f52fc9562ae -r 4042bda8c980 master/cdev.c --- a/master/cdev.c Thu Oct 02 10:44:43 2008 +0000 +++ b/master/cdev.c Thu Oct 02 10:45:40 2008 +0000 @@ -1408,6 +1408,50 @@ return domain->index; } +/*****************************************************************************/ + +/** Create a slave configuration. + */ +int ec_cdev_ioctl_create_slave_config( + 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, *entry; + + if (unlikely(!priv->requested)) + return -EPERM; + + if (copy_from_user(&data, (void __user *) arg, sizeof(data))) { + return -EFAULT; + } + + sc = ecrt_master_slave_config(master, data.alias, data.position, + data.vendor_id, data.product_code); + if (!sc) + return -ENODEV; // FIXME + + data.config_index = 0; + + if (down_interruptible(&master->master_sem)) + return -EINTR; + + list_for_each_entry(entry, &master->configs, list) { + if (entry == sc) + break; + data.config_index++; + } + + up(&master->master_sem); + + if (copy_to_user((void __user *) arg, &data, sizeof(data))) + return -EFAULT; + + return 0; +} + /****************************************************************************** * File operations *****************************************************************************/ @@ -1529,6 +1573,10 @@ if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; return ec_cdev_ioctl_create_domain(master, arg, priv); + case EC_IOCTL_CREATE_SLAVE_CONFIG: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_create_slave_config(master, arg, priv); default: return -ENOTTY; } diff -r 9f52fc9562ae -r 4042bda8c980 master/ioctl.h --- a/master/ioctl.h Thu Oct 02 10:44:43 2008 +0000 +++ b/master/ioctl.h Thu Oct 02 10:45:40 2008 +0000 @@ -81,6 +81,7 @@ #define EC_IOCTL_REQUEST EC_IO(0x16) #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x17) +#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x18, ec_ioctl_config_t) #define EC_IOCTL_STRING_SIZE 64