# HG changeset patch # User Andreas Stewering-Bone # Date 1300392816 -3600 # Node ID d246ab6b50d2b9ce1ecd5b9986968d54f99459c3 # Parent 3417bbc4ad2fb6894f85dd217863dd483ebfdae3 Fix application time for RTDM interface diff -r 3417bbc4ad2f -r d246ab6b50d2 examples/xenomai/Makefile.am --- a/examples/xenomai/Makefile.am Wed Mar 16 22:12:23 2011 +0100 +++ b/examples/xenomai/Makefile.am Thu Mar 17 21:13:36 2011 +0100 @@ -34,6 +34,6 @@ ec_xenomai_example_SOURCES = main.c ec_xenomai_example_CFLAGS = -I/opt/etherlab/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -I$(top_srcdir)/include -ec_xenomai_example_LDFLAGS = -lrtdm -L$(top_builddir)/lib/.libs -lethercat -lnative -L/opt/etherlab/xenomai/lib -lxenomai -lpthread +ec_xenomai_example_LDFLAGS = -lrtdm -L$(top_builddir)/lib/.libs -lethercat -lnative -L/opt/etherlab/xenomai/lib -lrtdk -lxenomai -lpthread #------------------------------------------------------------------------------ diff -r 3417bbc4ad2f -r d246ab6b50d2 examples/xenomai/main.c --- a/examples/xenomai/main.c Wed Mar 16 22:12:23 2011 +0100 +++ b/examples/xenomai/main.c Thu Mar 17 21:13:36 2011 +0100 @@ -45,6 +45,7 @@ #include #include #include +#include #include /****************************************************************************/ @@ -58,7 +59,7 @@ int rt_fd = -1; int run=0; -struct timeval tv; +//struct timeval tv; unsigned int sync_ref_counter = 0; CstructMstrAttach MstrAttach; @@ -66,8 +67,8 @@ /****************************************************************************/ // Application parameters -#define FREQUENCY 1000 -#define PRIORITY 1 +//#define FREQUENCY 1000 +//#define PRIORITY 1 // Optional features #define CONFIGURE_PDOS 1 @@ -102,7 +103,7 @@ #define AnaInSlave01_Pos 0, 5 #define BusCoupler02_Pos 0, 6 #define AnaInSlave02_Pos 0, 7 - +#define DPSlave01_Pos 0, 8 #define Beckhoff_EK1100 0x00000002, 0x044c2c52 @@ -429,116 +430,56 @@ void rt_check_domain_state(void) { ec_domain_state_t ds; - unsigned int printed=0; if (rt_fd>=0) { ecrt_rtdm_domain_state(rt_fd,&ds); } -/* if (ds.working_counter != domain1_state.working_counter) + if (ds.working_counter != domain1_state.working_counter) { - printf("Domain1: WC %u.\n", ds.working_counter); - printed=1; - + rt_printf("Domain1: WC %u.\n", ds.working_counter); } if (ds.wc_state != domain1_state.wc_state) { - printf("Domain1: State %u.\n", ds.wc_state); - printed=1; - + rt_printf("Domain1: State %u.\n", ds.wc_state); } - if (printed) - { - int ret; - - // return to realtime mode after print - - ret = rt_task_set_mode(0, T_PRIMARY, NULL); - if (ret) - { - printf("error while rt_task_set_mode, code %d\n",ret); - } - } -*/ + domain1_state = ds; } void rt_check_master_state(void) { ec_master_state_t ms; - unsigned int printed=0; if (rt_fd>=0) { ecrt_rtdm_master_state(rt_fd,&ms); } -/* if (ms.slaves_responding != master_state.slaves_responding) { - printf("%u slave(s).\n", ms.slaves_responding); - printed=1; - + rt_printf("%u slave(s).\n", ms.slaves_responding); } if (ms.al_states != master_state.al_states) { - printf("AL states: 0x%02X.\n", ms.al_states); - printed=1; - + rt_printf("AL states: 0x%02X.\n", ms.al_states); } if (ms.link_up != master_state.link_up) { - printf("Link is %s.\n", ms.link_up ? "up" : "down"); - printed=1; - - } - if (printed) - { - int ret; - - // return to realtime mode after print - - ret = rt_task_set_mode(0, T_PRIMARY, NULL); - if (ret) - { - printf("error while rt_task_set_mode, code %d\n",ret); - } - }*/ + rt_printf("Link is %s.\n", ms.link_up ? "up" : "down"); + } master_state = ms; } -void rt_receive() -{ - - if (rt_fd>=0) - { - ecrt_rtdm_master_recieve(rt_fd); - } -} - -void rt_send() -{ - - if (rt_fd>=0) - { - ecrt_rtdm_master_send(rt_fd); - } -} + + void rt_sync() { RTIME now; - int ret; now = rt_timer_read(); - //now -= 946684800ULL * 1000000000ULL; - - printf("Write Sync Time %i\n",now); - ret = rt_task_set_mode(0, T_PRIMARY, NULL); - if (ret) - { - printf("error while rt_task_set_mode, code %d\n",ret); - } + if (rt_fd>=0) { @@ -565,45 +506,45 @@ #if SDO_ACCESS void read_sdo(void) { - switch (ecrt_sdo_request_state(sdo)) - { - case EC_REQUEST_UNUSED: // request was not used yet - ecrt_sdo_request_read(sdo); // trigger first read - break; - case EC_REQUEST_BUSY: - fprintf(stderr, "Still busy...\n"); - break; - case EC_REQUEST_SUCCESS: - fprintf(stderr, "SDO value: 0x%04X\n", - EC_READ_U16(ecrt_sdo_request_data(sdo))); - ecrt_sdo_request_read(sdo); // trigger next read - break; - case EC_REQUEST_ERROR: - fprintf(stderr, "Failed to read SDO!\n"); - ecrt_sdo_request_read(sdo); // retry reading - break; - } + switch (ecrt_sdo_request_state(sdo)) + { + case EC_REQUEST_UNUSED: // request was not used yet + ecrt_sdo_request_read(sdo); // trigger first read + break; + case EC_REQUEST_BUSY: + fprintf(stderr, "Still busy...\n"); + break; + case EC_REQUEST_SUCCESS: + fprintf(stderr, "SDO value: 0x%04X\n", + EC_READ_U16(ecrt_sdo_request_data(sdo))); + ecrt_sdo_request_read(sdo); // trigger next read + break; + case EC_REQUEST_ERROR: + fprintf(stderr, "Failed to read SDO!\n"); + ecrt_sdo_request_read(sdo); // retry reading + break; + } } void PrintSDOState(void) { - switch (ecrt_sdo_request_state(sdo)) - { - case EC_REQUEST_UNUSED: // request was not used yet - fprintf(stderr, "SDO State: EC_REQUEST_UNUSED\n"); // trigger first read - break; - case EC_REQUEST_BUSY: - fprintf(stderr, "SDO State: EC_REQUEST_BUSY\n"); - break; - case EC_REQUEST_SUCCESS: - fprintf(stderr, "SDO State: EC_REQUEST_SUCCESS\n"); - break; - case EC_REQUEST_ERROR: - fprintf(stderr, "SDO State: EC_REQUEST_ERROR\n"); - break; - default: - fprintf(stderr, "SDO State: undefined\n"); - break; + switch (ecrt_sdo_request_state(sdo)) + { + case EC_REQUEST_UNUSED: // request was not used yet + fprintf(stderr, "SDO State: EC_REQUEST_UNUSED\n"); // trigger first read + break; + case EC_REQUEST_BUSY: + fprintf(stderr, "SDO State: EC_REQUEST_BUSY\n"); + break; + case EC_REQUEST_SUCCESS: + fprintf(stderr, "SDO State: EC_REQUEST_SUCCESS\n"); + break; + case EC_REQUEST_ERROR: + fprintf(stderr, "SDO State: EC_REQUEST_ERROR\n"); + break; + default: + fprintf(stderr, "SDO State: undefined\n"); + break; } } #endif @@ -646,7 +587,7 @@ ret = rt_task_set_mode(0, T_PRIMARY, NULL); if (ret) { - printf("error while rt_task_set_mode, code %d\n",ret); + rt_printf("error while rt_task_set_mode, code %d\n",ret); return; } @@ -661,7 +602,9 @@ } // receive ethercat - rt_receive(); + ecrt_rtdm_master_recieve(rt_fd); + ecrt_rtdm_domain_process(rt_fd); + rt_check_domain_state(); if (divcounter ==0) @@ -684,7 +627,8 @@ rt_sync(); // send process data - rt_send(); + ecrt_rtdm_domain_queque(rt_fd); + ecrt_rtdm_master_send(rt_fd); } } @@ -724,6 +668,9 @@ mlockall(MCL_CURRENT | MCL_FUTURE); + /* Perform auto-init of rt_print buffers if the task doesn't do so */ + rt_print_auto_init(1); + signal(SIGTERM, catch_signal); signal(SIGINT, catch_signal); @@ -851,6 +798,92 @@ return -1; } #endif + + + printf("Get Configuring EL6731...\n"); + sc_dpslv_01 = ecrt_master_slave_config(master, DPSlave01_Pos, Beckhoff_EL6731); + if (!sc_dpslv_01) { + fprintf(stderr, "Failed to get slave configuration.\n"); + return -1; + } + + printf("Configuring EL6731...\n"); + if (ecrt_slave_config_pdos(sc_dpslv_01, EC_END, slave_7_syncs)) + { + fprintf(stderr, "Failed to configure PDOs.\n"); + return -1; + } + +#if SDO_ACCESS + + + // DP Slave Parameter Set + fprintf(stderr, "Creating SDO requests...\n"); + if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) { + fprintf(stderr, "Failed to create SDO request.\n"); + return -1; + } + ecrt_sdo_request_timeout(sdo, 500); // ms + EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0); + PrintSDOState(); + ecrt_sdo_request_write(sdo); + PrintSDOState(); + + // Station Address + if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 1, 2))) { + fprintf(stderr, "Failed to create SDO request.\n"); + return -1; + } + ecrt_sdo_request_timeout(sdo, 500); // ms + EC_WRITE_U16(ecrt_sdo_request_data(sdo), 5); + //EC_WRITE_U8(ecrt_sdo_request_data(sdo), 00); + //EC_WRITE_U8(ecrt_sdo_request_data(sdo)+1, 10); + PrintSDOState(); + ecrt_sdo_request_write(sdo); + PrintSDOState(); + + // Device Type (DP Ident Number) + if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 4, 4))) { + fprintf(stderr, "Failed to create SDO request.\n"); + return -1; + } + ecrt_sdo_request_timeout(sdo, 500); // ms + sdo_adr = ecrt_sdo_request_data(sdo); + EC_WRITE_U32(sdo_adr, 0x095F); + //EC_WRITE_U8(sdo_ad, 0x00); // Device Type + //EC_WRITE_U8(sdo_adr+1, 0x00); + //EC_WRITE_U8(sdo_adr+2, 0x09); + //EC_WRITE_U8(sdo_adr+3, 0x5F); + PrintSDOState(); + ecrt_sdo_request_write(sdo); + PrintSDOState(); + + // DP CfgData Slave + if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8002, 0, 244))) { + fprintf(stderr, "Failed to create SDO request.\n"); + return -1; + } + ecrt_sdo_request_timeout(sdo, 500); // ms + sdo_adr = ecrt_sdo_request_data(sdo); + EC_WRITE_U8(sdo_adr, 0x10); // Device Type + EC_WRITE_U8(sdo_adr+1, 0x20); + PrintSDOState(); + ecrt_sdo_request_write(sdo); + PrintSDOState(); + + // DP Slave Parameter Set + if (!(sdo = ecrt_slave_config_create_sdo_request(sc_dpslv_01, 0x8000, 0, 1))) { + fprintf(stderr, "Failed to create SDO request.\n"); + return -1; + } + + ecrt_sdo_request_timeout(sdo, 500); // ms + + EC_WRITE_U8(ecrt_sdo_request_data(sdo), 0x33); // DP Slave Parameter Set + PrintSDOState(); + ecrt_sdo_request_write(sdo); + PrintSDOState(); +#endif diff -r 3417bbc4ad2f -r d246ab6b50d2 include/ec_rtdm.h --- a/include/ec_rtdm.h Wed Mar 16 22:12:23 2011 +0100 +++ b/include/ec_rtdm.h Thu Mar 17 21:13:36 2011 +0100 @@ -5,11 +5,9 @@ * ec_rtdm.h Copyright (C) 2009-2010 Moehwald GmbH B.Benner * 2011 IgH Andreas Stewering-Bone * - * This file is used for Prisma RT to interface to EtherCAT devices - * - * This file is part of ethercatrtdm interface to IgH EtherCAT master + * This file is part of the IgH EtherCAT master * - * The Moehwald ethercatrtdm interface is free software; you can + * The IgH EtherCAT master is free software; you can * redistribute it and/or modify it under the terms of the GNU Lesser General * Public License as published by the Free Software Foundation; version 2.1 * of the License. @@ -41,15 +39,19 @@ // IOCTRL Values for RTDM_EXTENSION // // Realtime IOCTRL function -#define EC_RTDM_MSTRATTACH 1 // attach to a running master -#define EC_RTDM_MSTRGETMUTNAME 2 // return the mutexname -#define EC_RTDM_MSTRRECEIVE 3 // call the master receive -#define EC_RTDM_MSTRSEND 4 // call the master send -#define EC_RTDM_DOMAINSTATE 5 // get domain state -#define EC_RTDM_MASTERSTATE 6 // get master state -#define EC_RTDM_MASTER_APP_TIME 7 -#define EC_RTDM_SYNC_REF_CLOCK 8 -#define EC_RTDM_SYNC_SLAVE_CLOCK 9 +#define EC_RTDM_MSTRATTACH 1 // attach to a running master +#define EC_RTDM_MSTRGETMUTNAME 2 // return the mutexname +#define EC_RTDM_MASTER_RECEIVE 3 // call the master receive +#define EC_RTDM_DOMAIN_PROCESS 4 // process domain data +#define EC_RTDM_DOMAIN_QUEQUE 5 // prepare domain data +#define EC_RTDM_MASTER_SEND 6 // call the master send +#define EC_RTDM_DOMAINSTATE 7 // get domain state +#define EC_RTDM_MASTERSTATE 8 // get master state +#define EC_RTDM_MASTER_APP_TIME 9 // set app time +#define EC_RTDM_SYNC_REF_CLOCK 10 // sync ref clock +#define EC_RTDM_SYNC_SLAVE_CLOCK 11 // sync slave clocks +#define EC_RTDM_MASTER_SYNC_MONITOR_QUEQUE 12 // prepare DC sync information +#define EC_RTDM_MASTER_SYNC_MONITOR_PROCESS 13 // get DC sync information typedef struct _CstructMstrAttach { @@ -58,14 +60,18 @@ } CstructMstrAttach; -#define ecrt_rtdm_master_attach(X,Y) rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y) -#define ecrt_rtdm_master_recieve(X) rt_dev_ioctl(X, EC_RTDM_MSTRRECEIVE) -#define ecrt_rtdm_master_send(X) rt_dev_ioctl(X, EC_RTDM_MSTRSEND) -#define ecrt_rtdm_domain_state(X,Y) rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y) -#define ecrt_rtdm_master_state(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y) -#define ecrt_rtdm_master_application_time(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y) -#define ecrt_rtdm_master_sync_reference_clock(X) rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK) -#define ecrt_rtdm_master_sync_slave_clocks(X) rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK); +#define ecrt_rtdm_master_attach(X,Y) rt_dev_ioctl(X, EC_RTDM_MSTRATTACH, Y) +#define ecrt_rtdm_master_recieve(X) rt_dev_ioctl(X, EC_RTDM_MASTER_RECEIVE) +#define ecrt_rtdm_domain_process(X) rt_dev_ioctl(X, EC_RTDM_DOMAIN_PROCESS) +#define ecrt_rtdm_domain_queque(X) rt_dev_ioctl(X, EC_RTDM_DOMAIN_QUEQUE) +#define ecrt_rtdm_master_send(X) rt_dev_ioctl(X, EC_RTDM_MASTER_SEND) +#define ecrt_rtdm_domain_state(X,Y) rt_dev_ioctl(X, EC_RTDM_DOMAINSTATE, Y) +#define ecrt_rtdm_master_state(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTERSTATE, Y) +#define ecrt_rtdm_master_application_time(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_APP_TIME, Y) +#define ecrt_rtdm_master_sync_reference_clock(X) rt_dev_ioctl(X, EC_RTDM_SYNC_REF_CLOCK) +#define ecrt_rtdm_master_sync_slave_clocks(X) rt_dev_ioctl(X, EC_RTDM_SYNC_SLAVE_CLOCK) +#define ecrt_rtdm_master_sync_monitor_queque(X) rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_QUEQUE) +#define ecrt_rtdm_master_sync_monitor_process(X,Y) rt_dev_ioctl(X, EC_RTDM_MASTER_MONITOR_PROCESS,Y) #endif diff -r 3417bbc4ad2f -r d246ab6b50d2 rtdm/module.c --- a/rtdm/module.c Wed Mar 16 22:12:23 2011 +0100 +++ b/rtdm/module.c Thu Mar 17 21:13:36 2011 +0100 @@ -5,11 +5,10 @@ * ec_rtdm.c Copyright (C) 2009-2010 Moehwald GmbH B.Benner * 2011 IgH Andreas Stewering-Bone * - * This file is used for Prisma RT to interface to EtherCAT devices * - * This file is part of ethercatrtdm interface to IgH EtherCAT master + * This file is part of the IgH EtherCAT master * - * The Moehwald ec_rtdm interface is free software; you can + * The IgH EtherCAT master is free software; you can * redistribute it and/or modify it under the terms of the GNU Lesser General * Public License as published by the Free Software Foundation; version 2.1 * of the License. @@ -43,23 +42,23 @@ #define EC_RTDM_MAX_MASTERS 5 /**< Maximum number of masters. */ #define EC_RTDM_GINFO(fmt, args...) \ - printk(KERN_INFO "EtherCATrtdm: " fmt, ##args) + rtdm_printk(KERN_INFO "EtherCATrtdm: " fmt, ##args) #define EC_RTDM_GERR(fmt, args...) \ - printk(KERN_ERR "EtherCATrtdm ERROR: " fmt, ##args) + rtdm_printk(KERN_ERR "EtherCATrtdm ERROR: " fmt, ##args) #define EC_RTDM_GWARN(fmt, args...) \ - printk(KERN_WARNING "EtherCATrtdm WARNING: " fmt, ##args) + rtdm_printk(KERN_WARNING "EtherCATrtdm WARNING: " fmt, ##args) #define EC_RTDM_INFO(devno, fmt, args...) \ - printk(KERN_INFO "EtherCATrtdm %u: " fmt, devno, ##args) + rtdm_printk(KERN_INFO "EtherCATrtdm %u: " fmt, devno, ##args) #define EC_RTDM_ERR(devno, fmt, args...) \ - printk(KERN_ERR "EtherCATrtdm %u ERROR: " fmt, devno, ##args) + rtdm_printk(KERN_ERR "EtherCATrtdm %u ERROR: " fmt, devno, ##args) #define EC_RTDM_WARN(devno, fmt, args...) \ - printk(KERN_WARNING "EtherCATrtdm %u WARNING: " fmt, devno, ##args) + rtdm_printk(KERN_WARNING "EtherCATrtdm %u WARNING: " fmt, devno, ##args) @@ -161,29 +160,8 @@ } } -void receive_process(EC_RTDM_DRV_STRUCT * pdrvstruc) -{ - if (pdrvstruc->master) - { - rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); - ecrt_master_receive(pdrvstruc->master); - ecrt_domain_process(pdrvstruc->domain); - pdrvstruc->reccnt++; - rt_mutex_release(&pdrvstruc->masterlock); - } -} - -void send_process(EC_RTDM_DRV_STRUCT * pdrvstruc) -{ - if (pdrvstruc->master) - { - rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); - ecrt_domain_queue(pdrvstruc->domain); - ecrt_master_send(pdrvstruc->master); - pdrvstruc->sendcnt++; - rt_mutex_release(&pdrvstruc->masterlock); - } -} + + void detach_master(EC_RTDM_DRV_STRUCT * pdrvstruc) { @@ -342,49 +320,79 @@ } } break; - - case EC_RTDM_MSTRRECEIVE: + case EC_RTDM_MASTER_RECEIVE: { if (pdrvstruc->isattached) { - receive_process(pdrvstruc); - } - } - break; - case EC_RTDM_MSTRSEND: - { - - if (pdrvstruc->isattached) - { - send_process(pdrvstruc); - } - } - break; - case EC_RTDM_MASTER_APP_TIME: - { - if (!pdrvstruc->isattached) - { - return -EFAULT; - } - if (rtdm_rw_user_ok(user_info, arg, sizeof(app_time))) - { - // copy data from user - if (rtdm_copy_from_user(user_info, &app_time, arg, sizeof(app_time))) - { - return -EFAULT; - } if (pdrvstruc->master) { rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); - - ecrt_master_application_time(pdrvstruc->master, app_time); - + ecrt_master_receive(pdrvstruc->master); + pdrvstruc->reccnt++; rt_mutex_release(&pdrvstruc->masterlock); - } } } break; + case EC_RTDM_DOMAIN_PROCESS: + { + if (pdrvstruc->isattached) + { + rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); + ecrt_domain_process(pdrvstruc->domain); + rt_mutex_release(&pdrvstruc->masterlock); + } + } + break; + case EC_RTDM_MASTER_SEND: + { + + if (pdrvstruc->isattached) + { + if (pdrvstruc->master) + { + rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); + ecrt_master_send(pdrvstruc->master); + pdrvstruc->sendcnt++; + rt_mutex_release(&pdrvstruc->masterlock); + } + } + } + break; + case EC_RTDM_DOMAIN_QUEQUE: + { + if (pdrvstruc->isattached) + { + rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); + ecrt_domain_queue(pdrvstruc->domain); + rt_mutex_release(&pdrvstruc->masterlock); + } + } + break; + + case EC_RTDM_MASTER_APP_TIME: + { + if (!pdrvstruc->isattached) + { + rtdm_printk("ERROR : No Master attached\n"); + return -EFAULT; + } + if (rtdm_safe_copy_from_user(user_info, &app_time, arg, sizeof(app_time))) + { + rtdm_printk("ERROR : can't copy data to driver\n"); + return -EFAULT; + } + + if (pdrvstruc->master) + { + rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); + + ecrt_master_application_time(pdrvstruc->master, app_time); + rt_mutex_release(&pdrvstruc->masterlock); + + } + } + break; case EC_RTDM_SYNC_REF_CLOCK: { if (!pdrvstruc->isattached) @@ -419,6 +427,40 @@ } } break; + case EC_RTDM_MASTER_SYNC_MONITOR_QUEQUE: + { + if (!pdrvstruc->isattached) + { + return -EFAULT; + } + if (pdrvstruc->master) + { + rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); + ecrt_master_sync_monitor_queue(pdrvstruc->master); + rt_mutex_release(&pdrvstruc->masterlock); + } + } + break; + case EC_RTDM_MASTER_SYNC_MONITOR_PROCESS: + { + uint32_t ret; + if (!pdrvstruc->isattached) + { + return -EFAULT; + } + if (pdrvstruc->master) + { + rt_mutex_acquire(&pdrvstruc->masterlock,TM_INFINITE); + ret = ecrt_master_sync_monitor_process(pdrvstruc->master); + rt_mutex_release(&pdrvstruc->masterlock); + if (rtdm_safe_copy_to_user(user_info, arg, &ret, sizeof(ret))) + { + EC_RTDM_ERR(pdrvstruc->masterno,"copy to user param failed!\n"); + ret=-EFAULT; + } + } + } + break; case EC_RTDM_MSTRATTACH: { unsigned int mstridx; @@ -650,7 +692,7 @@ driver_name: EC_RTDM_DEV_FILE_NAME, driver_version: RTDM_DRIVER_VER(1,0,1), peripheral_name: EC_RTDM_DEV_FILE_NAME, - provider_name: "Moehwald GmbH - Bosch Group", + provider_name: "EtherLab Community", // proc_name: ethcatrtdm_device.device_name, }; @@ -703,7 +745,7 @@ { unsigned int i; - EC_RTDM_GINFO("Cleanup EtherCAT RTDM Interface to Igh EtherCAT Master - Moehwald GmbH\n"); + EC_RTDM_GINFO("Cleanup EtherCAT RTDM Interface \n"); for (i=0;i