Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to
S. Weiser.
--- a/NEWS Mon May 04 13:53:41 2009 +0000
+++ b/NEWS Tue May 05 08:15:02 2009 +0000
@@ -36,6 +36,9 @@
* Output device link state in 'ethercat master'.
* Added 'ethercat graph' command which outputs the bus topology in
DOT language.
+* Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download() methods to let
+ an application transfer SDOs before activating the master. Thanks to Stefan
+ Weiser.
Changes in 1.4.0:
--- a/include/ecrt.h Mon May 04 13:53:41 2009 +0000
+++ b/include/ecrt.h Tue May 05 08:15:02 2009 +0000
@@ -55,6 +55,8 @@
* - 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.
+ * - Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download() methods to
+ * let an application transfer SDOs before activating the master.
* - Removed 'const' from argument of ecrt_sdo_request_state(), because the
* userspace library has to modify object internals.
* - Added 64-bit data access macros.
@@ -448,6 +450,8 @@
uint32_t product_code /**< Expected product code. */
);
+#ifndef __KERNEL__
+
/** Obtains slave information.
*
* Tries to find the slave with the given ring position. The obtained
@@ -465,6 +469,8 @@
information */
);
+#endif /* ifndef __KERNEL__ */
+
/** Finishes the configuration phase and prepares for cyclic operation.
*
* This function tells the master that the configuration phase is finished and
@@ -551,6 +557,50 @@
ec_master_t *master /**< EtherCAT master. */
);
+#ifndef __KERNEL__
+
+/** Executes an SDO write request to download data.
+ *
+ * This function operates aside of the normal way to request SDOs. Before the
+ * activation of the master, these requests are processed by the master state
+ * machine itself. After activation the user has to ensure cyclic processing.
+ *
+ * \retval 0 Success.
+ * \retval -1 An error occured.
+ */
+int ecrt_slave_sdo_download(
+ ec_master_t* master, /**< EtherCAT master. */
+ uint16_t slave_position, /**< Slave position. */
+ uint16_t index, /**< Index of the SDO. */
+ uint8_t subindex, /**< Subindex of the SDO. */
+ uint8_t *data, /**< Data buffer to download. */
+ size_t data_size, /**< Size of the data buffer. */
+ uint32_t *abort_code /**< Abort code of the SDO download. */
+ );
+
+/** Executes a SDO read request to upload data.
+ *
+ * This function operates aside of the normal way to request SDOs. Before the
+ * activation of the master, these requests are processed by the master state
+ * machine itself. After activation the user have to ensure cyclic
+ * processing.
+ *
+ * \retval 0 Success.
+ * \retval -1 Error occured.
+ */
+int ecrt_slave_sdo_upload(
+ ec_master_t* master, /**< EtherCAT master. */
+ uint16_t slave_position, /**< Slave position. */
+ uint16_t index, /**< Index of the SDO. */
+ uint8_t subindex, /**< Subindex of the SDO. */
+ uint8_t *target, /**< Target buffer for the upload. */
+ size_t target_size, /**< Size of the target buffer. */
+ size_t *result_size, /**< Uploaded data size. */
+ uint32_t *abort_code /**< Abort code of the SDO upload. */
+ );
+
+#endif /* ifndef __KERNEL__ */
+
/******************************************************************************
* Slave configuration methods
*****************************************************************************/
--- a/lib/master.c Mon May 04 13:53:41 2009 +0000
+++ b/lib/master.c Tue May 05 08:15:02 2009 +0000
@@ -222,3 +222,60 @@
}
/*****************************************************************************/
+
+int ecrt_slave_sdo_download(ec_master_t* master, uint16_t slave_position,
+ uint16_t index, uint8_t subindex, uint8_t *data,
+ size_t data_size, uint32_t *abort_code)
+{
+ ec_ioctl_slave_sdo_download_t download;
+
+ download.slave_position = slave_position;
+ download.sdo_index = index;
+ download.sdo_entry_subindex = subindex;
+ download.data_size = data_size;
+ download.data = data;
+
+ if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
+ if (errno == -EIO) {
+ if (abort_code) {
+ *abort_code = download.abort_code;
+ }
+ }
+ fprintf(stderr, "Failed to execute SDO download: %s\n",
+ strerror(errno));
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_sdo_upload(ec_master_t* master, uint16_t slave_position,
+ uint16_t index, uint8_t subindex, uint8_t *target,
+ size_t target_size, size_t *result_size, uint32_t *abort_code)
+{
+ ec_ioctl_slave_sdo_upload_t upload;
+
+ upload.slave_position = slave_position;
+ upload.sdo_index = index;
+ upload.sdo_entry_subindex = subindex;
+ upload.target_size = target_size;
+ upload.target = target;
+
+ if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {
+ if (errno == -EIO) {
+ if (abort_code) {
+ *abort_code = upload.abort_code;
+ }
+ }
+ fprintf(stderr, "Failed to execute SDO upload: %s\n",
+ strerror(errno));
+ return -1;
+ }
+
+ *result_size = upload.data_size;
+ return 0;
+}
+
+/*****************************************************************************/