--- a/TODO Mon Feb 02 13:34:01 2009 +0000
+++ b/TODO Mon Feb 02 13:37:00 2009 +0000
@@ -12,11 +12,10 @@
* Remove ecrt_domain_state().
* Segmented SDO downloads.
-* Implement SDO handlers in userspace library.
* Clear slave list on link down.
* Check force_config flag before error.
* Remove allow_scanning flag.
-* File access over EtherCAT (FoE).
+* Test File access over EtherCAT (FoE) reading.
* Improve application-triggered SDO transfers by moving the statemachine into
the SDO handlers.
* External memory for SDO transfers.
--- a/examples/user/main.c Mon Feb 02 13:34:01 2009 +0000
+++ b/examples/user/main.c Mon Feb 02 13:37:00 2009 +0000
@@ -45,6 +45,7 @@
// Optional features
#define CONFIGURE_PDOS 1
+#define SDO_ACCESS 0
/****************************************************************************/
@@ -68,14 +69,15 @@
static uint8_t *domain1_pd = NULL;
#define BusCouplerPos 0, 0
-#define AnaOutSlavePos 0, 1
-#define AnaInSlavePos 0, 2
-#define DigOutSlavePos 0, 3
+#define DigOutSlavePos 0, 2
+#define AnaInSlavePos 0, 3
+#define AnaOutSlavePos 0, 4
#define Beckhoff_EK1100 0x00000002, 0x044c2c52
#define Beckhoff_EL2004 0x00000002, 0x07d43052
#define Beckhoff_EL2032 0x00000002, 0x07f03052
#define Beckhoff_EL3152 0x00000002, 0x0c503052
+#define Beckhoff_EL3102 0x00000002, 0x0c1e3052
#define Beckhoff_EL4102 0x00000002, 0x10063052
// offsets for PDO entries
@@ -85,8 +87,8 @@
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
- {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 1, &off_ana_in_status},
- {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in_value},
+ {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 1, &off_ana_in_status},
+ {AnaInSlavePos, Beckhoff_EL3102, 0x3101, 2, &off_ana_in_value},
{AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
{DigOutSlavePos, Beckhoff_EL2032, 0x3001, 1, &off_dig_out},
{}
@@ -101,7 +103,7 @@
// Analog in --------------------------
-static ec_pdo_entry_info_t el3152_pdo_entries[] = {
+static ec_pdo_entry_info_t el3102_pdo_entries[] = {
{0x3101, 1, 8}, // channel 1 status
{0x3101, 2, 16}, // channel 1 value
{0x3102, 1, 8}, // channel 2 status
@@ -110,14 +112,14 @@
{0x6401, 2, 16} // channel 2 value (alt.)
};
-static ec_pdo_info_t el3152_pdos[] = {
- {0x1A00, 2, el3152_pdo_entries},
- {0x1A01, 2, el3152_pdo_entries + 2}
-};
-
-static ec_sync_info_t el3152_syncs[] = {
+static ec_pdo_info_t el3102_pdos[] = {
+ {0x1A00, 2, el3102_pdo_entries},
+ {0x1A01, 2, el3102_pdo_entries + 2}
+};
+
+static ec_sync_info_t el3102_syncs[] = {
{2, EC_DIR_OUTPUT},
- {3, EC_DIR_INPUT, 2, el3152_pdos},
+ {3, EC_DIR_INPUT, 2, el3102_pdos},
{0xff}
};
@@ -164,6 +166,12 @@
/*****************************************************************************/
+#if SDO_ACCESS
+static ec_sdo_request_t *sdo;
+#endif
+
+/*****************************************************************************/
+
void check_domain1_state(void)
{
ec_domain_state_t ds;
@@ -215,6 +223,31 @@
sc_ana_in_state = s;
}
+/*****************************************************************************/
+
+#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;
+ }
+}
+#endif
+
/****************************************************************************/
void cyclic_task()
@@ -241,6 +274,12 @@
// check for islave configuration state(s) (optional)
check_slave_config_states();
+
+#if SDO_ACCESS
+ // read process data SDO
+ read_sdo();
+#endif
+
}
#if 0
@@ -287,14 +326,23 @@
return -1;
if (!(sc_ana_in = ecrt_master_slave_config(
- master, AnaInSlavePos, Beckhoff_EL3152))) {
+ master, AnaInSlavePos, Beckhoff_EL3102))) {
fprintf(stderr, "Failed to get slave configuration.\n");
return -1;
}
+#if SDO_ACCESS
+ fprintf(stderr, "Creating SDO requests...\n");
+ if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
+ fprintf(stderr, "Failed to create SDO request.\n");
+ return -1;
+ }
+ ecrt_sdo_request_timeout(sdo, 500); // ms
+#endif
+
#if CONFIGURE_PDOS
printf("Configuring PDOs...\n");
- if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
+ if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3102_syncs)) {
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
--- a/include/ecrt.h Mon Feb 02 13:34:01 2009 +0000
+++ b/include/ecrt.h Mon Feb 02 13:37:00 2009 +0000
@@ -45,6 +45,8 @@
* - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also
* used by VoE handlers.
* - Added ecrt_master_slave() to get information about a certain slave.
+ * - Removed 'const' from argument of ecrt_sdo_request_state(), because the
+ * userspace library has to modify object internals.
*
* Changes in Version 1.4:
*
@@ -969,9 +971,15 @@
*
* \return Request state.
*/
+#ifdef __KERNEL__
ec_request_state_t ecrt_sdo_request_state(
- const ec_sdo_request_t *req /**< SDO request. */
+ const ec_sdo_request_t *req /**< SDO request. */
);
+#else
+ec_request_state_t ecrt_sdo_request_state(
+ ec_sdo_request_t *req /**< SDO request. */
+ );
+#endif
/** Schedule an SDO write operation.
*
--- a/lib/Makefile.am Mon Feb 02 13:34:01 2009 +0000
+++ b/lib/Makefile.am Mon Feb 02 13:37:00 2009 +0000
@@ -37,12 +37,14 @@
common.c \
domain.c \
master.c \
+ sdo_request.c \
slave_config.c \
voe_handler.c
noinst_HEADERS = \
domain.h \
master.h \
+ sdo_request.h \
slave_config.h \
voe_handler.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/sdo_request.c Mon Feb 02 13:37:00 2009 +0000
@@ -0,0 +1,147 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2009 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 version 2, as
+ * published by the Free Software Foundation.
+ *
+ * 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
+ *
+ * Using the EtherCAT technology and brand is permitted in compliance with
+ * the industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/** \file
+ * Canopen over EtherCAT SDO request functions.
+ */
+
+/*****************************************************************************/
+
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include "sdo_request.h"
+#include "master/ioctl.h"
+#include "slave_config.h"
+#include "master.h"
+
+/*****************************************************************************
+ * Realtime interface.
+ ****************************************************************************/
+
+void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
+{
+ ec_ioctl_sdo_request_t data;
+
+ data.config_index = req->config->index;
+ data.request_index = req->index;
+ data.timeout = timeout;
+
+ if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT,
+ &data) == -1)
+ fprintf(stderr, "Failed to set SDO request timeout: %s\n",
+ strerror(errno));
+}
+
+/*****************************************************************************/
+
+uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
+{
+ return req->data;
+}
+
+/*****************************************************************************/
+
+size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
+{
+ return req->data_size;
+}
+
+/*****************************************************************************/
+
+ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req)
+{
+ ec_ioctl_sdo_request_t data;
+
+ data.config_index = req->config->index;
+ data.request_index = req->index;
+
+ if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE,
+ &data) == -1)
+ fprintf(stderr, "Failed to get SDO request state: %s\n",
+ strerror(errno));
+
+ if (data.size) { // new data waiting to be copied
+ if (req->mem_size < data.size) {
+ if (req->data)
+ free(req->data);
+ req->data = malloc(data.size);
+ if (!req->data) {
+ req->mem_size = 0;
+ fprintf(stderr, "Failed to allocate %u bytes of SDO data"
+ " memory!\n", data.size);
+ return EC_REQUEST_ERROR;
+ }
+ req->mem_size = data.size;
+ }
+
+ data.data = req->data;
+
+ if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_DATA,
+ &data) == -1) {
+ fprintf(stderr, "Failed to get SDO data: %s\n", strerror(errno));
+ return EC_REQUEST_ERROR;
+ }
+ req->data_size = data.size;
+ }
+
+ return data.state;
+}
+
+/*****************************************************************************/
+
+void ecrt_sdo_request_read(ec_sdo_request_t *req)
+{
+ ec_ioctl_sdo_request_t data;
+
+ data.config_index = req->config->index;
+ data.request_index = req->index;
+
+ if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ,
+ &data) == -1)
+ fprintf(stderr, "Failed to command an SDO read operation : %s\n",
+ strerror(errno));
+}
+
+/*****************************************************************************/
+
+void ecrt_sdo_request_write(ec_sdo_request_t *req)
+{
+ ec_ioctl_sdo_request_t data;
+
+ data.config_index = req->config->index;
+ data.request_index = req->index;
+ data.data = req->data;
+ data.size = req->data_size;
+
+ if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE,
+ &data) == -1)
+ fprintf(stderr, "Failed to command an SDO write operation : %s\n",
+ strerror(errno));
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/sdo_request.h Mon Feb 02 13:37:00 2009 +0000
@@ -0,0 +1,42 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT master userspace library.
+ *
+ * The IgH EtherCAT master userspace library 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.
+ *
+ * The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with the IgH EtherCAT master userspace library. If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ * Using the EtherCAT technology and brand is permitted in compliance with
+ * the industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+#include "include/ecrt.h"
+
+/*****************************************************************************/
+
+struct ec_sdo_request {
+ ec_slave_config_t *config; /**< Parent slave configuration. */
+ unsigned int index; /**< Request index (identifier). */
+ uint16_t sdo_index; /**< SDO index. */
+ uint8_t sdo_subindex; /**< SDO subindex. */
+ uint8_t *data; /**< Pointer to SDO data. */
+ size_t mem_size; /**< Size of SDO data memory. */
+ size_t data_size; /**< Size of SDO data. */
+};
+
+/*****************************************************************************/
--- a/lib/slave_config.c Mon Feb 02 13:34:01 2009 +0000
+++ b/lib/slave_config.c Mon Feb 02 13:37:00 2009 +0000
@@ -33,6 +33,7 @@
#include "slave_config.h"
#include "domain.h"
+#include "sdo_request.h"
#include "voe_handler.h"
#include "master.h"
#include "master/ioctl.h"
@@ -297,7 +298,48 @@
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,
uint16_t index, uint8_t subindex, size_t size)
{
- return 0; // TODO
+ ec_ioctl_sdo_request_t data;
+ ec_sdo_request_t *req;
+
+ req = malloc(sizeof(ec_sdo_request_t));
+ if (!req) {
+ fprintf(stderr, "Failed to allocate memory.\n");
+ return 0;
+ }
+
+ if (size) {
+ req->data = malloc(size);
+ if (!req->data) {
+ fprintf(stderr, "Failed to allocate %u bytes of SDO data"
+ " memory.\n", size);
+ free(req);
+ return 0;
+ }
+ } else {
+ req->data = NULL;
+ }
+
+ data.config_index = sc->index;
+ data.sdo_index = index;
+ data.sdo_subindex = subindex;
+ data.size = size;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_SDO_REQUEST, &data) == -1) {
+ fprintf(stderr, "Failed to create SDO request: %s\n",
+ strerror(errno));
+ if (req->data)
+ free(req->data);
+ free(req);
+ return NULL;
+ }
+
+ req->config = sc;
+ req->index = data.request_index;
+ req->sdo_index = data.sdo_index;
+ req->sdo_subindex = data.sdo_subindex;
+ req->data_size = size;
+ req->mem_size = size;
+ return req;
}
/*****************************************************************************/
--- a/master/cdev.c Mon Feb 02 13:34:01 2009 +0000
+++ b/master/cdev.c Mon Feb 02 13:37:00 2009 +0000
@@ -1874,6 +1874,55 @@
/*****************************************************************************/
+/** Create an SDO request.
+ */
+int ec_cdev_ioctl_sc_create_sdo_request(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sdo_request_t data;
+ ec_slave_config_t *sc;
+ ec_sdo_request_t *req;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ return -EFAULT;
+ }
+
+ data.request_index = 0;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ sc = ec_master_get_config(master, data.config_index);
+ if (!sc) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ list_for_each_entry(req, &sc->sdo_requests, list) {
+ data.request_index++;
+ }
+
+ up(&master->master_sem);
+
+ req = ecrt_slave_config_create_sdo_request_err(sc, data.sdo_index,
+ data.sdo_subindex, data.size);
+ if (IS_ERR(req))
+ return PTR_ERR(req);
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+ return -EFAULT;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
/** Create a VoE handler.
*/
int ec_cdev_ioctl_sc_create_voe_handler(
@@ -2088,6 +2137,209 @@
/*****************************************************************************/
+/** Sets an SDO request's timeout.
+ */
+int ec_cdev_ioctl_sdo_request_timeout(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sdo_request_t data;
+ ec_slave_config_t *sc;
+ ec_sdo_request_t *req;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
+ return -EFAULT;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(sc = ec_master_get_config(master, data.config_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ up(&master->master_sem);
+
+ ecrt_sdo_request_timeout(req, data.timeout);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Gets an SDO request's state.
+ */
+int ec_cdev_ioctl_sdo_request_state(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sdo_request_t data;
+ ec_slave_config_t *sc;
+ ec_sdo_request_t *req;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
+ return -EFAULT;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(sc = ec_master_get_config(master, data.config_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ data.state = ecrt_sdo_request_state(req);
+ if (data.state == EC_REQUEST_SUCCESS && req->dir == EC_DIR_INPUT)
+ data.size = ecrt_sdo_request_data_size(req);
+ else
+ data.size = 0;
+
+ up(&master->master_sem);
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+ return -EFAULT;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Starts an SDO read operation.
+ */
+int ec_cdev_ioctl_sdo_request_read(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sdo_request_t data;
+ ec_slave_config_t *sc;
+ ec_sdo_request_t *req;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
+ return -EFAULT;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(sc = ec_master_get_config(master, data.config_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ up(&master->master_sem);
+
+ ecrt_sdo_request_read(req);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Starts an SDO write operation.
+ */
+int ec_cdev_ioctl_sdo_request_write(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sdo_request_t data;
+ ec_slave_config_t *sc;
+ ec_sdo_request_t *req;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
+ return -EFAULT;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(sc = ec_master_get_config(master, data.config_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ up(&master->master_sem);
+
+ ecrt_sdo_request_write(req);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Read SDO data.
+ */
+int ec_cdev_ioctl_sdo_request_data(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_sdo_request_t data;
+ ec_slave_config_t *sc;
+ ec_sdo_request_t *req;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
+ return -EFAULT;
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(sc = ec_master_get_config(master, data.config_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ if (!(req = ec_slave_config_find_sdo_request(sc, data.request_index))) {
+ up(&master->master_sem);
+ return -ENOENT;
+ }
+
+ up(&master->master_sem);
+
+ ecrt_sdo_request_timeout(req, data.timeout);
+ return 0;
+}
+
+/*****************************************************************************/
+
/** Sets the VoE send header.
*/
int ec_cdev_ioctl_voe_send_header(
@@ -2646,7 +2898,7 @@
ec_master_t *master = priv->cdev->master;
if (master->debug_level)
- EC_DBG("ioctl(filp = 0x%x, cmd = 0x%x (0x%x), arg = 0x%x)\n",
+ EC_DBG("ioctl(filp = 0x%x, cmd = 0x%08x (0x%02x), arg = 0x%x)\n",
(u32) filp, (u32) cmd, (u32) _IOC_NR(cmd), (u32) arg);
switch (cmd) {
@@ -2764,6 +3016,10 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_sdo(master, arg, priv);
+ case EC_IOCTL_SC_SDO_REQUEST:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_create_sdo_request(master, arg, priv);
case EC_IOCTL_SC_VOE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
@@ -2782,6 +3038,22 @@
return ec_cdev_ioctl_domain_queue(master, arg, priv);
case EC_IOCTL_DOMAIN_STATE:
return ec_cdev_ioctl_domain_state(master, arg, priv);
+ case EC_IOCTL_SDO_REQUEST_TIMEOUT:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sdo_request_timeout(master, arg, priv);
+ case EC_IOCTL_SDO_REQUEST_STATE:
+ return ec_cdev_ioctl_sdo_request_state(master, arg, priv);
+ case EC_IOCTL_SDO_REQUEST_READ:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sdo_request_read(master, arg, priv);
+ case EC_IOCTL_SDO_REQUEST_WRITE:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sdo_request_write(master, arg, priv);
+ case EC_IOCTL_SDO_REQUEST_DATA:
+ return ec_cdev_ioctl_sdo_request_data(master, arg, priv);
case EC_IOCTL_VOE_SEND_HEADER:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
--- a/master/ioctl.h Mon Feb 02 13:34:01 2009 +0000
+++ b/master/ioctl.h Mon Feb 02 13:37:00 2009 +0000
@@ -90,19 +90,25 @@
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x23, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x24, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x25, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_VOE EC_IOWR(0x26, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE EC_IOWR(0x27, ec_ioctl_sc_state_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x28)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x29)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x2a)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x2b, ec_ioctl_domain_state_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x2c, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x2d, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x2e, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x2f, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x30, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x31, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x32, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x26, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE EC_IOWR(0x27, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE EC_IOWR(0x28, ec_ioctl_sc_state_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x29)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x2a)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x2b)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x2c, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x2d, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x2e, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x2f, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x30, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x31, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x32, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x33, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x34, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x35, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x36, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x37, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x38, ec_ioctl_voe_t)
/*****************************************************************************/
@@ -468,6 +474,22 @@
uint32_t config_index;
// inputs/outputs
+ uint32_t request_index;
+ uint16_t sdo_index;
+ uint8_t sdo_subindex;
+ size_t size;
+ uint8_t *data;
+ uint32_t timeout;
+ ec_request_state_t state;
+} ec_ioctl_sdo_request_t;
+
+/*****************************************************************************/
+
+typedef struct {
+ // inputs
+ uint32_t config_index;
+
+ // inputs/outputs
uint32_t voe_index;
uint32_t *vendor_id;
uint16_t *vendor_type;