--- a/TODO Tue Mar 09 11:51:02 2010 +0100
+++ b/TODO Tue Mar 09 12:01:29 2010 +0100
@@ -24,7 +24,6 @@
* Output warning when send_ext() is called in illegal context.
* Add master index to log messages.
* Implement SoE fragmenting.
-* User-space implementation for SoE.
* Implement CompleteAccess for SDO uploads.
* Check for Enable SDO Complete Access flag.
* Remove allow_scanning flag.
--- a/lib/slave_config.c Tue Mar 09 11:51:02 2010 +0100
+++ b/lib/slave_config.c Tue Mar 09 12:01:29 2010 +0100
@@ -471,3 +471,23 @@
}
/*****************************************************************************/
+
+int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
+ const uint8_t *data, size_t size)
+{
+ ec_ioctl_sc_idn_t io;
+
+ io.config_index = sc->index;
+ io.idn = idn;
+ io.data = data;
+ io.size = size;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io) == -1) {
+ fprintf(stderr, "Failed to configure IDN.\n");
+ return -1; // FIXME
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
--- a/master/cdev.c Tue Mar 09 11:51:02 2010 +0100
+++ b/master/cdev.c Tue Mar 09 12:01:29 2010 +0100
@@ -2417,6 +2417,57 @@
/*****************************************************************************/
+/** Configures an IDN.
+ */
+int ec_cdev_ioctl_sc_idn(
+ 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_idn_t ioctl;
+ ec_slave_config_t *sc;
+ uint8_t *data = NULL;
+ int ret;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
+ return -EFAULT;
+
+ if (!ioctl.size)
+ return -EINVAL;
+
+ if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
+ return -ENOMEM;
+ }
+
+ if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) {
+ kfree(data);
+ return -EFAULT;
+ }
+
+ if (down_interruptible(&master->master_sem)) {
+ kfree(data);
+ return -EINTR;
+ }
+
+ if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
+ up(&master->master_sem);
+ kfree(data);
+ return -ENOENT;
+ }
+
+ up(&master->master_sem); // FIXME
+
+ ret = ecrt_slave_config_idn(sc, ioctl.idn, data, ioctl.size);
+ kfree(data);
+ return ret;
+}
+
+/*****************************************************************************/
+
/** Gets the domain's offset in the total process data.
*/
int ec_cdev_ioctl_domain_offset(
@@ -3687,6 +3738,10 @@
return ec_cdev_ioctl_sc_create_voe_handler(master, arg, priv);
case EC_IOCTL_SC_STATE:
return ec_cdev_ioctl_sc_state(master, arg, priv);
+ case EC_IOCTL_SC_IDN:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_idn(master, arg, priv);
case EC_IOCTL_DOMAIN_OFFSET:
return ec_cdev_ioctl_domain_offset(master, arg, priv);
case EC_IOCTL_DOMAIN_PROCESS:
--- a/master/ioctl.h Tue Mar 09 11:51:02 2010 +0100
+++ b/master/ioctl.h Tue Mar 09 12:01:29 2010 +0100
@@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
-#define EC_IOCTL_VERSION_MAGIC 4
+#define EC_IOCTL_VERSION_MAGIC 5
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -116,23 +116,24 @@
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x32, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x33, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x34, ec_ioctl_sc_state_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x35)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x36)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x37)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x38, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x39, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3e, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3f, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x40, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x41, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x42, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x43, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x44, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x45, size_t)
+#define EC_IOCTL_SC_IDN EC_IOW(0x35, ec_ioctl_sc_idn_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x36)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x37)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x38)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x39, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3f, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x40, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x41, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x42, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x43, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x44, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x45, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x46, size_t)
/*****************************************************************************/
@@ -580,6 +581,16 @@
typedef struct {
// inputs
+ uint32_t config_index;
+ uint16_t idn;
+ const uint8_t *data;
+ size_t size;
+} ec_ioctl_sc_idn_t;
+
+/*****************************************************************************/
+
+typedef struct {
+ // inputs
uint32_t domain_index;
// outputs