# HG changeset patch # User Florian Pose # Date 1291127061 -3600 # Node ID b5391b329b5d4563fe26db65814eaa218f2ac52b # Parent e9f722488fcd777e451e88ea2442e8fa8d18dfe6 Added ecrt_master_reset() method. diff -r e9f722488fcd -r b5391b329b5d include/ecrt.h --- a/include/ecrt.h Mon Oct 25 17:06:45 2010 +0200 +++ b/include/ecrt.h Tue Nov 30 15:24:21 2010 +0100 @@ -78,6 +78,7 @@ * - Added ecrt_slave_config_idn() method for storing SoE IDN configurations, * and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs * ad-hoc via the user-space library. + * - Added ecrt_master_reset() to initiate retrying to configure slaves. * * @{ */ @@ -859,6 +860,17 @@ ec_master_t *master /**< EtherCAT master. */ ); +/** Retry configuring slaves. + * + * Via this method, the application can tell the master to bring all slaves to + * OP state. In general, this is not necessary, because it is automatically + * done by the master. But with special slaves, that can be reconfigured by + * the vendor during runtime, it can be useful. + */ +void ecrt_master_reset( + ec_master_t *master /**< EtherCAT master. */ + ); + /****************************************************************************** * Slave configuration methods *****************************************************************************/ diff -r e9f722488fcd -r b5391b329b5d lib/master.c --- a/lib/master.c Mon Oct 25 17:06:45 2010 +0200 +++ b/lib/master.c Tue Nov 30 15:24:21 2010 +0100 @@ -572,3 +572,12 @@ } /*****************************************************************************/ + +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)); + } +} + +/*****************************************************************************/ diff -r e9f722488fcd -r b5391b329b5d master/cdev.c --- a/master/cdev.c Mon Oct 25 17:06:45 2010 +0200 +++ b/master/cdev.c Tue Nov 30 15:24:21 2010 +0100 @@ -1992,6 +1992,25 @@ /*****************************************************************************/ +/** Reset configuration. + */ +int ec_cdev_ioctl_reset( + ec_master_t *master, /**< EtherCAT master. */ + unsigned long arg, /**< ioctl() argument. */ + ec_cdev_priv_t *priv /**< Private data structure of file handle. */ + ) +{ + if (unlikely(!priv->requested)) + return -EPERM; + + down(&master->master_sem); + ecrt_master_reset(master); + up(&master->master_sem); + return 0; +} + +/*****************************************************************************/ + /** Configure a sync manager. */ int ec_cdev_ioctl_sc_sync( @@ -3671,6 +3690,10 @@ if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; return ec_cdev_ioctl_sync_mon_process(master, arg, priv); + case EC_IOCTL_RESET: + if (!(filp->f_mode & FMODE_WRITE)) + return -EPERM; + return ec_cdev_ioctl_reset(master, arg, priv); case EC_IOCTL_SC_SYNC: if (!(filp->f_mode & FMODE_WRITE)) return -EPERM; diff -r e9f722488fcd -r b5391b329b5d master/ioctl.h --- a/master/ioctl.h Mon Oct 25 17:06:45 2010 +0200 +++ b/master/ioctl.h Tue Nov 30 15:24:21 2010 +0100 @@ -56,7 +56,7 @@ * * Increment this when changing the ioctl interface! */ -#define EC_IOCTL_VERSION_MAGIC 10 +#define EC_IOCTL_VERSION_MAGIC 11 // Command-line tool #define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t) @@ -95,7 +95,7 @@ // Application interface #define EC_IOCTL_REQUEST EC_IO(0x1e) #define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f) -#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x10, ec_ioctl_config_t) +#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t) #define EC_IOCTL_ACTIVATE EC_IOR(0x21, size_t) #define EC_IOCTL_DEACTIVATE EC_IO(0x22) #define EC_IOCTL_SEND EC_IO(0x23) @@ -106,36 +106,37 @@ #define EC_IOCTL_SYNC_SLAVES EC_IO(0x28) #define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x29) #define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2a, uint32_t) -#define EC_IOCTL_SC_SYNC EC_IOW(0x2b, ec_ioctl_config_t) -#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2c, ec_ioctl_config_t) -#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2d, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2e, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2f, ec_ioctl_add_pdo_entry_t) -#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x20, ec_ioctl_config_pdo_t) -#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x21, ec_ioctl_reg_pdo_entry_t) -#define EC_IOCTL_SC_DC EC_IOW(0x32, ec_ioctl_config_t) -#define EC_IOCTL_SC_SDO EC_IOW(0x33, ec_ioctl_sc_sdo_t) -#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x34, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SC_VOE EC_IOWR(0x35, ec_ioctl_voe_t) -#define EC_IOCTL_SC_STATE EC_IOWR(0x36, ec_ioctl_sc_state_t) -#define EC_IOCTL_SC_IDN EC_IOW(0x37, ec_ioctl_sc_idn_t) -#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x38) -#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x39) -#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3a) -#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3b, ec_ioctl_domain_state_t) -#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3c, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3d, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3e, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3f, ec_ioctl_sdo_request_t) -#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x30, ec_ioctl_sdo_request_t) -#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x41, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x42, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ EC_IOW(0x43, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x44, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_WRITE EC_IOWR(0x45, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_EXEC EC_IOWR(0x46, ec_ioctl_voe_t) -#define EC_IOCTL_VOE_DATA EC_IOWR(0x47, ec_ioctl_voe_t) -#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x48, size_t) +#define EC_IOCTL_RESET EC_IO(0x2b) +#define EC_IOCTL_SC_SYNC EC_IOW(0x2c, ec_ioctl_config_t) +#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2d, ec_ioctl_config_t) +#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2e, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2f, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x30, ec_ioctl_add_pdo_entry_t) +#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x31, ec_ioctl_config_pdo_t) +#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t) +#define EC_IOCTL_SC_DC EC_IOW(0x33, ec_ioctl_config_t) +#define EC_IOCTL_SC_SDO EC_IOW(0x34, ec_ioctl_sc_sdo_t) +#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x35, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SC_VOE EC_IOWR(0x36, ec_ioctl_voe_t) +#define EC_IOCTL_SC_STATE EC_IOWR(0x37, ec_ioctl_sc_state_t) +#define EC_IOCTL_SC_IDN EC_IOW(0x38, ec_ioctl_sc_idn_t) +#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x39) +#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x3a) +#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3b) +#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3c, ec_ioctl_domain_state_t) +#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3d, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3e, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3f, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x40, ec_ioctl_sdo_request_t) +#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x41, ec_ioctl_sdo_request_t) +#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x42, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x43, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ EC_IOW(0x44, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x45, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_WRITE EC_IOWR(0x46, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_EXEC EC_IOWR(0x47, ec_ioctl_voe_t) +#define EC_IOCTL_VOE_DATA EC_IOWR(0x48, ec_ioctl_voe_t) +#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x49, size_t) /*****************************************************************************/ diff -r e9f722488fcd -r b5391b329b5d master/master.c --- a/master/master.c Mon Oct 25 17:06:45 2010 +0200 +++ b/master/master.c Tue Nov 30 15:24:21 2010 +0100 @@ -2501,6 +2501,19 @@ /*****************************************************************************/ +void ecrt_master_reset(ec_master_t *master) +{ + ec_slave_config_t *sc; + + list_for_each_entry(sc, &master->configs, list) { + if (sc->slave) { + ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP); + } + } +} + +/*****************************************************************************/ + /** \cond */ EXPORT_SYMBOL(ecrt_master_create_domain); @@ -2521,6 +2534,7 @@ EXPORT_SYMBOL(ecrt_master_sync_monitor_process); EXPORT_SYMBOL(ecrt_master_write_idn); EXPORT_SYMBOL(ecrt_master_read_idn); +EXPORT_SYMBOL(ecrt_master_reset); /** \endcond */