--- a/master/cdev.c Wed Jun 04 10:10:50 2008 +0000
+++ b/master/cdev.c Wed Jun 04 10:13:07 2008 +0000
@@ -347,6 +347,38 @@
break;
}
+ case EC_IOCTL_DOMAIN_COUNT:
+ retval = ec_master_domain_count(master);
+ break;
+
+ case EC_IOCTL_DOMAIN:
+ {
+ ec_ioctl_domain_t data;
+ const ec_domain_t *domain;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+
+ if (!(domain = ec_master_find_domain(master, data.index))) {
+ EC_ERR("Domain %u does not exist!\n", data.index);
+ retval = -EINVAL;
+ break;
+ }
+
+ data.data_size = domain->data_size;
+ data.logical_base_address = domain->logical_base_address;
+ data.working_counter = domain->working_counter;
+ data.expected_working_counter = domain->expected_working_counter;
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+ break;
+ }
+
default:
retval = -ENOIOCTLCMD;
}
--- a/master/ioctl.h Wed Jun 04 10:10:50 2008 +0000
+++ b/master/ioctl.h Wed Jun 04 10:13:07 2008 +0000
@@ -49,6 +49,8 @@
EC_IOCTL_SYNC,
EC_IOCTL_PDO,
EC_IOCTL_PDO_ENTRY,
+ EC_IOCTL_DOMAIN_COUNT,
+ EC_IOCTL_DOMAIN
};
/*****************************************************************************/
@@ -123,4 +125,17 @@
/*****************************************************************************/
+typedef struct {
+ // inputs
+ unsigned int index;
+
+ // outputs
+ unsigned int data_size;
+ uint32_t logical_base_address;
+ uint16_t working_counter;
+ uint16_t expected_working_counter;
+} ec_ioctl_domain_t;
+
+/*****************************************************************************/
+
#endif
--- a/tools/Master.cpp Wed Jun 04 10:10:50 2008 +0000
+++ b/tools/Master.cpp Wed Jun 04 10:13:07 2008 +0000
@@ -62,6 +62,21 @@
/****************************************************************************/
+void Master::showDomains(int domainIndex)
+{
+ if (domainIndex == -1) {
+ unsigned int numDomains = domainCount(), i;
+
+ for (i = 0; i < numDomains; i++) {
+ showDomain(i);
+ }
+ } else {
+ showDomain(domainIndex);
+ }
+}
+
+/****************************************************************************/
+
void Master::listSlaves()
{
unsigned int numSlaves = slaveCount(), i;
@@ -127,6 +142,29 @@
/****************************************************************************/
+void Master::showDomain(unsigned int domainIndex)
+{
+ ec_ioctl_domain_t data;
+
+ getDomain(&data, domainIndex);
+
+ unsigned int data_size;
+ uint32_t logical_base_address;
+ uint16_t working_counter;
+ uint16_t expected_working_counter;
+
+ cout << "Domain" << domainIndex << ":"
+ << " LogBaseAddr 0x"
+ << hex << setfill('0') << setw(8) << data.logical_base_address
+ << ", Size " << dec << data.data_size
+ << ", WorkingCounter "
+ << dec << data.working_counter
+ << " of " << data.expected_working_counter
+ << endl;
+}
+
+/****************************************************************************/
+
void Master::listSlavePdos(uint16_t slavePosition, bool printSlave)
{
ec_ioctl_slave_t slave;
@@ -275,13 +313,28 @@
/****************************************************************************/
+unsigned int Master::domainCount()
+{
+ int ret;
+
+ if ((ret = ioctl(fd, EC_IOCTL_DOMAIN_COUNT, 0)) < 0) {
+ stringstream err;
+ err << "Failed to get number of domains: " << strerror(errno);
+ throw MasterException(err.str());
+ }
+
+ return ret;
+}
+
+/****************************************************************************/
+
unsigned int Master::slaveCount()
{
int ret;
if ((ret = ioctl(fd, EC_IOCTL_SLAVE_COUNT, 0)) < 0) {
stringstream err;
- err << "Failed to get slave: " << strerror(errno);
+ err << "Failed to get number of slaves: " << strerror(errno);
throw MasterException(err.str());
}
@@ -290,6 +343,23 @@
/****************************************************************************/
+void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
+{
+ data->index = index;
+
+ if (ioctl(fd, EC_IOCTL_DOMAIN, data)) {
+ stringstream err;
+ err << "Failed to get domain: ";
+ if (errno == EINVAL)
+ err << "Domain " << index << " does not exist!";
+ else
+ err << strerror(errno);
+ throw MasterException(err.str());
+ }
+}
+
+/****************************************************************************/
+
void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)
{
slave->position = slaveIndex;
--- a/tools/Master.h Wed Jun 04 10:10:50 2008 +0000
+++ b/tools/Master.h Wed Jun 04 10:13:07 2008 +0000
@@ -40,15 +40,19 @@
void open(unsigned int);
void close();
+ void showDomains(int);
void listSlaves();
void listPdos(int);
void generateXml(int);
protected:
+ void showDomain(unsigned int);
void listSlavePdos(uint16_t, bool = false);
void generateSlaveXml(uint16_t);
+ unsigned int domainCount();
unsigned int slaveCount();
void slaveSyncs(uint16_t);
+ void getDomain(ec_ioctl_domain_t *, unsigned int);
void getSlave(ec_ioctl_slave_t *, uint16_t);
void getSync(ec_ioctl_sync_t *, uint16_t, uint8_t);
void getPdo(ec_ioctl_pdo_t *, uint16_t, uint8_t, uint8_t);
--- a/tools/main.cpp Wed Jun 04 10:10:50 2008 +0000
+++ b/tools/main.cpp Wed Jun 04 10:13:07 2008 +0000
@@ -17,9 +17,11 @@
#define DEFAULT_MASTER 0
#define DEFAULT_COMMAND "slaves"
#define DEFAULT_SLAVEPOSITION -1
+#define DEFAULT_DOMAININDEX -1
static unsigned int masterIndex = DEFAULT_MASTER;
static int slavePosition = DEFAULT_SLAVEPOSITION;
+static int domainIndex = DEFAULT_DOMAININDEX;
static string command = DEFAULT_COMMAND;
/*****************************************************************************/
@@ -29,16 +31,21 @@
cerr
<< "Usage: ethercat <COMMAND> [OPTIONS]" << endl
<< "Commands:" << endl
+ << " domain Show domain information." << endl
<< " list (ls, slaves) List all slaves (former 'lsec')." << endl
<< " pdos List Pdo mapping of given slaves." << endl
<< " xml Generate slave information xml." << endl
<< "Global options:" << endl
<< " --master -m <master> Index of the master to use. Default: "
<< DEFAULT_MASTER << endl
- << " --slave -s <slave> Positive numerical ring position,"
+ << " --slave -s <index> Positive numerical ring position,"
<< endl
<< " or 'all' for all slaves. Default: 'all'."
<< endl
+ << " --domain -d <index> Positive numerical index,"
+ << endl
+ << " or 'all' for all domains. Default: "
+ << "'all'." << endl
<< " --help -h Show this help." << endl;
}
@@ -53,12 +60,13 @@
//name, has_arg, flag, val
{"master", required_argument, NULL, 'm'},
{"slave", required_argument, NULL, 's'},
+ {"domain", required_argument, NULL, 'd'},
{"help", no_argument, NULL, 'h'},
{}
};
do {
- c = getopt_long(argc, argv, "m:s:h", longOptions, &optionIndex);
+ c = getopt_long(argc, argv, "m:s:d:h", longOptions, &optionIndex);
switch (c) {
case 'm':
@@ -87,6 +95,21 @@
}
break;
+ case 'd':
+ if (!strcmp(optarg, "all")) {
+ domainIndex = -1;
+ } else {
+ number = strtoul(optarg, &remainder, 0);
+ if (remainder == optarg || *remainder || number < 0) {
+ cerr << "Invalid domain index "
+ << optarg << "!" << endl;
+ printUsage();
+ exit(1);
+ }
+ domainIndex = number;
+ }
+ break;
+
case 'h':
case '?':
printUsage();
@@ -120,7 +143,9 @@
try {
master.open(masterIndex);
- if (command == "list" || command == "ls" || command == "slaves") {
+ if (command == "domain") {
+ master.showDomains(domainIndex);
+ } else if (command == "list" || command == "ls" || command == "slaves") {
master.listSlaves();
} else if (command == "pdos") {
master.listPdos(slavePosition);