--- a/examples/user/main.c Thu Oct 09 13:24:17 2008 +0000
+++ b/examples/user/main.c Thu Oct 09 13:31:50 2008 +0000
@@ -1,6 +1,33 @@
/*****************************************************************************
*
- * $Id$
+ * $Id$
+ *
+ * Copyright (C) 2006 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
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
*
****************************************************************************/
@@ -13,15 +40,132 @@
#include <sys/types.h>
#include <unistd.h>
+/****************************************************************************/
+
#include "ecrt.h"
+/****************************************************************************/
+
+// Optional features
+#define CONFIGURE_PDOS 1
+#define EL3152_ALT_PDOS 0
+#define SDO_ACCESS 0
+#define VOE_ACCESS 0
+
#define PRIORITY 1
+#define BusCouplerPos 0, 0
+#define AnaOutSlavePos 0, 1
+#define AnaInSlavePos 0, 2
+#define DigOutSlavePos 0, 3
+
+#define Beckhoff_EK1100 0x00000002, 0x044C2C52
+#define Beckhoff_EL2004 0x00000002, 0x07D43052
+#define Beckhoff_EL3152 0x00000002, 0x0c503052
+#define Beckhoff_EL4102 0x00000002, 0x10063052
+
/****************************************************************************/
static unsigned int sig_alarms = 0;
static unsigned int user_alarms = 0;
+// offsets for Pdo entries
+static unsigned int off_ana_in;
+static unsigned int off_ana_out;
+static unsigned int off_dig_out;
+
+const static ec_pdo_entry_reg_t domain1_regs[] = {
+#if EL3152_ALT_PDOS
+ {AnaInSlavePos, Beckhoff_EL3152, 0x6401, 1, &off_ana_in},
+#else
+ {AnaInSlavePos, Beckhoff_EL3152, 0x3101, 2, &off_ana_in},
+#endif
+ {AnaOutSlavePos, Beckhoff_EL4102, 0x3001, 1, &off_ana_out},
+ {DigOutSlavePos, Beckhoff_EL2004, 0x3001, 1, &off_dig_out},
+ {}
+};
+
+static ec_slave_config_t *sc_ana_in = NULL;
+
+/*****************************************************************************/
+
+#if CONFIGURE_PDOS
+
+// Analog in --------------------------
+
+static ec_pdo_entry_info_t el3152_pdo_entries[] = {
+ {0x3101, 1, 8}, // channel 1 status
+ {0x3101, 2, 16}, // channel 1 value
+ {0x3102, 1, 8}, // channel 2 status
+ {0x3102, 2, 16}, // channel 2 value
+ {0x6401, 1, 16}, // channel 1 value (alt.)
+ {0x6401, 2, 16} // channel 2 value (alt.)
+};
+
+#if EL3152_ALT_PDOS
+static ec_pdo_info_t el3152_pdos[] = {
+ {0x1A10, 2, el3152_pdo_entries + 4},
+};
+
+static ec_sync_info_t el3152_syncs[] = {
+ {2, EC_DIR_OUTPUT},
+ {3, EC_DIR_INPUT, 1, el3152_pdos},
+ {0xff}
+};
+#else
+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[] = {
+ {2, EC_DIR_OUTPUT},
+ {3, EC_DIR_INPUT, 2, el3152_pdos},
+ {0xff}
+};
+#endif
+
+// Analog out -------------------------
+
+static ec_pdo_entry_info_t el4102_pdo_entries[] = {
+ {0x3001, 1, 16}, // channel 1 value
+ {0x3002, 1, 16}, // channel 2 value
+};
+
+static ec_pdo_info_t el4102_pdos[] = {
+ {0x1600, 1, el4102_pdo_entries},
+ {0x1601, 1, el4102_pdo_entries + 1}
+};
+
+static ec_sync_info_t el4102_syncs[] = {
+ {2, EC_DIR_OUTPUT, 2, el4102_pdos},
+ {3, EC_DIR_INPUT},
+ {0xff}
+};
+
+// Digital out ------------------------
+
+static ec_pdo_entry_info_t el2004_channels[] = {
+ {0x3001, 1, 1}, // Value 1
+ {0x3001, 2, 1}, // Value 2
+ {0x3001, 3, 1}, // Value 3
+ {0x3001, 4, 1} // Value 4
+};
+
+static ec_pdo_info_t el2004_pdos[] = {
+ {0x1600, 1, &el2004_channels[0]},
+ {0x1601, 1, &el2004_channels[1]},
+ {0x1602, 1, &el2004_channels[2]},
+ {0x1603, 1, &el2004_channels[3]}
+};
+
+static ec_sync_info_t el2004_syncs[] = {
+ {0, EC_DIR_OUTPUT, 4, el2004_pdos},
+ {1, EC_DIR_INPUT},
+ {0xff}
+};
+#endif
+
/****************************************************************************/
void signal_handler(int signum) {
@@ -37,7 +181,7 @@
int main(int argc, char **argv)
{
ec_master_t *master;
- ec_domain_t *domain;
+ ec_domain_t *domain1;
ec_slave_config_t *sc;
struct sigaction sa;
struct itimerval tv;
@@ -46,14 +190,56 @@
if (!master)
return -1;
- domain = ecrt_master_create_domain(master);
- if (!domain)
- return -1;
-
- sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52);
+ domain1 = ecrt_master_create_domain(master);
+ if (!domain1)
+ return -1;
+
+ if (!(sc_ana_in = ecrt_master_slave_config(
+ master, AnaInSlavePos, Beckhoff_EL3152))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+#if CONFIGURE_PDOS
+ printf("Configuring Pdos...\n");
+ if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
+ fprintf(stderr, "Failed to configure Pdos.\n");
+ return -1;
+ }
+
+ if (!(sc = ecrt_master_slave_config(
+ master, AnaOutSlavePos, Beckhoff_EL4102))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+ if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
+ fprintf(stderr, "Failed to configure Pdos.\n");
+ return -1;
+ }
+
+ if (!(sc = ecrt_master_slave_config(
+ master, DigOutSlavePos, Beckhoff_EL2004))) {
+ fprintf(stderr, "Failed to get slave configuration.\n");
+ return -1;
+ }
+
+ if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
+ fprintf(stderr, "Failed to configure Pdos.\n");
+ return -1;
+ }
+#endif
+
+ // Create configuration for bus coupler
+ sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
if (!sc)
return -1;
+ if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
+ fprintf(stderr, "Pdo entry registration failed!\n");
+ return -1;
+ }
+
printf("Activating master...\n");
if (ecrt_master_activate(master))
return -1;
@@ -75,7 +261,7 @@
printf("Starting timer...\n");
tv.it_interval.tv_sec = 0;
- tv.it_interval.tv_usec = 100000;
+ tv.it_interval.tv_usec = 10000;
tv.it_value.tv_sec = 0;
tv.it_value.tv_usec = 1000;
if (setitimer(ITIMER_REAL, &tv, NULL)) {
@@ -87,7 +273,7 @@
while (1) {
sleep(1);
-#if 1
+#if 0
struct timeval t;
gettimeofday(&t, NULL);
printf("%u.%06u\n", t.tv_sec, t.tv_usec);
--- a/lib/Makefile.am Thu Oct 09 13:24:17 2008 +0000
+++ b/lib/Makefile.am Thu Oct 09 13:31:50 2008 +0000
@@ -41,7 +41,9 @@
libethercat_la_CFLAGS = -I$(srcdir)/..
libethercat_la_SOURCES = \
common.c \
- master.c
+ domain.c \
+ master.c \
+ slave_config.c
noinst_HEADERS = \
domain.h \
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/domain.c Thu Oct 09 13:31:50 2008 +0000
@@ -0,0 +1,99 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 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
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT domain methods.
+*/
+
+/*****************************************************************************/
+
+#include "domain.h"
+
+/*****************************************************************************/
+
+int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
+ const ec_pdo_entry_reg_t *regs)
+{
+ const ec_pdo_entry_reg_t *reg;
+ ec_slave_config_t *sc;
+ int ret;
+
+ for (reg = regs; reg->index; reg++) {
+ if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
+ reg->position, reg->vendor_id, reg->product_code)))
+ return -1;
+
+ if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
+ reg->subindex, domain, reg->bit_position)) < 0)
+ return -1;
+
+ *reg->offset = ret;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+size_t ecrt_domain_size(ec_domain_t *domain)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+uint8_t *ecrt_domain_data(ec_domain_t *domain)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ecrt_domain_process(ec_domain_t *domain)
+{
+}
+
+/*****************************************************************************/
+
+void ecrt_domain_queue(ec_domain_t *domain)
+{
+}
+
+/*****************************************************************************/
+
+void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
+{
+}
+
+/*****************************************************************************/
--- a/lib/domain.h Thu Oct 09 13:24:17 2008 +0000
+++ b/lib/domain.h Thu Oct 09 13:31:50 2008 +0000
@@ -37,6 +37,7 @@
struct ec_domain {
unsigned int index;
+ ec_master_t *master;
};
/*****************************************************************************/
--- a/lib/master.c Thu Oct 09 13:24:17 2008 +0000
+++ b/lib/master.c Thu Oct 09 13:31:50 2008 +0000
@@ -63,6 +63,7 @@
}
domain->index = (unsigned int) index;
+ domain->master = master;
return domain;
}
@@ -94,7 +95,10 @@
return 0;
}
+ sc->master = master;
sc->index = data.config_index;
+ sc->alias = alias;
+ sc->position = position;
return sc;
}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/lib/slave_config.c Thu Oct 09 13:31:50 2008 +0000
@@ -0,0 +1,319 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 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
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * 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
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+#include <stdlib.h>
+#include <sys/ioctl.h>
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+
+#include "slave_config.h"
+#include "domain.h"
+#include "master.h"
+#include "master/ioctl.h"
+
+/*****************************************************************************/
+
+int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,
+ ec_direction_t dir)
+{
+ ec_ioctl_config_t data;
+ unsigned int i;
+
+ if (sync_index >= EC_MAX_SYNC_MANAGERS)
+ return -1;
+
+ memset(&data, 0x00, sizeof(ec_ioctl_config_t));
+ data.config_index = sc->index;
+ data.syncs[sync_index].dir = dir;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {
+ fprintf(stderr, "Failed to config sync manager: %s\n",
+ strerror(errno));
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
+ uint8_t sync_index, uint16_t pdo_index)
+{
+ ec_ioctl_config_pdo_t data;
+
+ data.config_index = sc->index;
+ data.sync_index = sync_index;
+ data.index = pdo_index;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
+ fprintf(stderr, "Failed to add Pdo: %s\n",
+ strerror(errno));
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
+ uint8_t sync_index)
+{
+ ec_ioctl_config_pdo_t data;
+
+ data.config_index = sc->index;
+ data.sync_index = sync_index;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
+ fprintf(stderr, "Failed to clear Pdos: %s\n",
+ strerror(errno));
+ }
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
+ uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,
+ uint8_t entry_bit_length)
+{
+ ec_ioctl_add_pdo_entry_t data;
+
+ data.config_index = sc->index;
+ data.pdo_index = pdo_index;
+ data.entry_index = entry_index;
+ data.entry_subindex = entry_subindex;
+ data.entry_bit_length = entry_bit_length;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
+ fprintf(stderr, "Failed to add Pdo entry: %s\n",
+ strerror(errno));
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
+ uint16_t pdo_index)
+{
+ ec_ioctl_config_pdo_t data;
+
+ data.config_index = sc->index;
+ data.index = pdo_index;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
+ fprintf(stderr, "Failed to clear Pdo entries: %s\n",
+ strerror(errno));
+ }
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_pdos(ec_slave_config_t *sc,
+ unsigned int n_syncs, const ec_sync_info_t syncs[])
+{
+ unsigned int i, j, k;
+ const ec_sync_info_t *sync_info;
+ const ec_pdo_info_t *pdo_info;
+ const ec_pdo_entry_info_t *entry_info;
+
+ if (!syncs)
+ return 0;
+
+ for (i = 0; i < n_syncs; i++) {
+ sync_info = &syncs[i];
+
+ if (sync_info->index == (uint8_t) EC_END)
+ break;
+
+ if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {
+ fprintf(stderr, "Invalid sync manager index %u!\n",
+ sync_info->index);
+ return -1;
+ }
+
+ if (ecrt_slave_config_sync_manager(
+ sc, sync_info->index, sync_info->dir))
+ return -1;
+
+ if (sync_info->n_pdos && sync_info->pdos) {
+ ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);
+
+ for (j = 0; j < sync_info->n_pdos; j++) {
+ pdo_info = &sync_info->pdos[j];
+
+ if (ecrt_slave_config_pdo_assign_add(
+ sc, sync_info->index, pdo_info->index))
+ return -1;
+
+ if (pdo_info->n_entries && pdo_info->entries) {
+ ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);
+
+ for (k = 0; k < pdo_info->n_entries; k++) {
+ entry_info = &pdo_info->entries[k];
+
+ if (ecrt_slave_config_pdo_mapping_add(sc,
+ pdo_info->index, entry_info->index,
+ entry_info->subindex,
+ entry_info->bit_length))
+ return -1;
+ }
+ }
+ }
+ }
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_reg_pdo_entry(
+ ec_slave_config_t *sc,
+ uint16_t index,
+ uint8_t subindex,
+ ec_domain_t *domain,
+ unsigned int *bit_position
+ )
+{
+ ec_ioctl_reg_pdo_entry_t data;
+ int ret;
+
+ data.config_index = sc->index;
+ data.entry_index = index;
+ data.entry_subindex = subindex;
+ data.domain_index = domain->index;
+
+ ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
+ if (ret == -1) {
+ fprintf(stderr, "Failed to register Pdo entry: %s\n",
+ strerror(errno));
+ return -2;
+ }
+
+ if (bit_position) {
+ *bit_position = data.bit_position;
+ } else {
+ if (data.bit_position) {
+ fprintf(stderr, "Pdo entry 0x%04X:%02X does not byte-align "
+ "in config %u:%u.\n", index, subindex,
+ sc->alias, sc->position);
+ return -3;
+ }
+ }
+
+ return ret;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
+ uint8_t subindex, const uint8_t *sdo_data, size_t size)
+{
+ ec_ioctl_sc_sdo_t data;
+
+ data.config_index = sc->index;
+ data.index = index;
+ data.subindex = subindex;
+ data.data = sdo_data;
+ data.size = size;
+
+ if (ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data) == -1) {
+ fprintf(stderr, "Failed to configure Sdo.\n");
+ return -1;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,
+ uint8_t subindex, uint8_t value)
+{
+ uint8_t data[1];
+
+ EC_WRITE_U8(data, value);
+ return ecrt_slave_config_sdo(sc, index, subindex, data, 1);
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,
+ uint8_t subindex, uint16_t value)
+{
+ uint8_t data[2];
+
+ EC_WRITE_U16(data, value);
+ return ecrt_slave_config_sdo(sc, index, subindex, data, 2);
+}
+
+/*****************************************************************************/
+
+int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,
+ uint8_t subindex, uint32_t value)
+{
+ uint8_t data[4];
+
+ EC_WRITE_U32(data, value);
+ return ecrt_slave_config_sdo(sc, index, subindex, data, 4);
+}
+
+/*****************************************************************************/
+
+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;
+}
+
+/*****************************************************************************/
+
+ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,
+ size_t size)
+{
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ecrt_slave_config_state(const ec_slave_config_t *sc,
+ ec_slave_config_state_t *state)
+{
+}
+
+/*****************************************************************************/
--- a/lib/slave_config.h Thu Oct 09 13:24:17 2008 +0000
+++ b/lib/slave_config.h Thu Oct 09 13:31:50 2008 +0000
@@ -36,7 +36,10 @@
/*****************************************************************************/
struct ec_slave_config {
+ ec_master_t *master;
unsigned int index;
+ uint16_t alias;
+ uint16_t position;
};
/*****************************************************************************/
--- a/master/cdev.c Thu Oct 09 13:24:17 2008 +0000
+++ b/master/cdev.c Thu Oct 09 13:31:50 2008 +0000
@@ -1509,6 +1509,285 @@
return 0;
}
+/*****************************************************************************/
+
+/** Set the direction of a sync manager.
+ */
+int ec_cdev_ioctl_sc_sync(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_config_t data;
+ ec_slave_config_t *sc;
+ unsigned int i;
+ int ret = 0;
+
+ if (unlikely(!priv->requested)) {
+ ret = -EPERM;
+ goto out_return;
+ }
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ ret = -EFAULT;
+ goto out_return;
+ }
+
+ if (down_interruptible(&master->master_sem)) {
+ ret = -EINTR;
+ goto out_return;
+ }
+
+ if (!(sc = ec_master_get_config(master, data.config_index))) {
+ ret = -ESRCH;
+ goto out_up;
+ }
+
+ for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++) {
+ ec_direction_t dir = data.syncs[i].dir;
+ if (dir == EC_DIR_INPUT || dir == EC_DIR_OUTPUT) {
+ if (ecrt_slave_config_sync_manager(sc, i, dir)) {
+ ret = -EINVAL;
+ goto out_up;
+ }
+ }
+ }
+
+out_up:
+ up(&master->master_sem);
+out_return:
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Add a Pdo to the assignment.
+ */
+int ec_cdev_ioctl_sc_add_pdo(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_config_pdo_t data;
+ ec_slave_config_t *sc;
+
+ 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 -ESRCH;
+ }
+
+ up(&master->master_sem); // FIXME
+
+ return ecrt_slave_config_pdo_assign_add(sc, data.sync_index, data.index);
+}
+
+/*****************************************************************************/
+
+/** Clears the Pdo assignment.
+ */
+int ec_cdev_ioctl_sc_clear_pdos(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_config_pdo_t data;
+ ec_slave_config_t *sc;
+
+ 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 -ESRCH;
+ }
+
+ up(&master->master_sem); // FIXME
+
+ ecrt_slave_config_pdo_assign_clear(sc, data.sync_index);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Add an entry to a Pdo's mapping.
+ */
+int ec_cdev_ioctl_sc_add_entry(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_add_pdo_entry_t data;
+ ec_slave_config_t *sc;
+
+ 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 -ESRCH;
+ }
+
+ up(&master->master_sem); // FIXME
+
+ return ecrt_slave_config_pdo_mapping_add(sc, data.pdo_index,
+ data.entry_index, data.entry_subindex, data.entry_bit_length);
+}
+
+/*****************************************************************************/
+
+/** Clears the mapping of a Pdo.
+ */
+int ec_cdev_ioctl_sc_clear_entries(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_config_pdo_t data;
+ ec_slave_config_t *sc;
+
+ 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 -ESRCH;
+ }
+
+ up(&master->master_sem); // FIXME
+
+ ecrt_slave_config_pdo_mapping_clear(sc, data.index);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Registers a Pdo entry.
+ */
+int ec_cdev_ioctl_sc_reg_pdo_entry(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ ec_ioctl_reg_pdo_entry_t data;
+ ec_slave_config_t *sc;
+ ec_domain_t *domain;
+ int ret;
+
+ 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 -ESRCH;
+ }
+
+ if (!(domain = ec_master_find_domain(master, data.domain_index))) {
+ up(&master->master_sem);
+ return -ESRCH;
+ }
+
+ up(&master->master_sem); // FIXME
+
+ ret = ecrt_slave_config_reg_pdo_entry(sc, data.entry_index,
+ data.entry_subindex, domain, &data.bit_position);
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+ return -EFAULT;
+
+ return ret;
+}
+
+/*****************************************************************************/
+
+/** Configures an Sdo.
+ */
+int ec_cdev_ioctl_sc_sdo(
+ 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_sdo_t data;
+ ec_slave_config_t *sc;
+ uint8_t *sdo_data = NULL;
+ int ret;
+
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data)))
+ return -EFAULT;
+
+ if (!data.size)
+ return -EINVAL;
+
+ if (!(sdo_data = kmalloc(data.size, GFP_KERNEL))) {
+ return -ENOMEM;
+ }
+
+ if (copy_from_user(sdo_data, (void __user *) data.data, data.size)) {
+ kfree(sdo_data);
+ return -EFAULT;
+ }
+
+ if (down_interruptible(&master->master_sem)) {
+ kfree(sdo_data);
+ return -EINTR;
+ }
+
+ if (!(sc = ec_master_get_config(master, data.config_index))) {
+ up(&master->master_sem);
+ kfree(sdo_data);
+ return -ESRCH;
+ }
+
+ up(&master->master_sem); // FIXME
+
+ ret = ecrt_slave_config_sdo(sc, data.index, data.subindex, sdo_data,
+ data.size);
+ kfree(sdo_data);
+ return ret;
+}
+
/******************************************************************************
* File operations
*****************************************************************************/
@@ -1646,6 +1925,34 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_receive(master, arg, priv);
+ case EC_IOCTL_SC_SYNC:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_sync(master, arg, priv);
+ case EC_IOCTL_SC_ADD_PDO:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_add_pdo(master, arg, priv);
+ case EC_IOCTL_SC_CLEAR_PDOS:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_clear_pdos(master, arg, priv);
+ case EC_IOCTL_SC_ADD_ENTRY:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_add_entry(master, arg, priv);
+ case EC_IOCTL_SC_CLEAR_ENTRIES:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_clear_entries(master, arg, priv);
+ case EC_IOCTL_SC_REG_PDO_ENTRY:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_reg_pdo_entry(master, arg, priv);
+ case EC_IOCTL_SC_SDO:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_sc_sdo(master, arg, priv);
default:
return -ENOTTY;
}
--- a/master/ioctl.h Thu Oct 09 13:24:17 2008 +0000
+++ b/master/ioctl.h Thu Oct 09 13:31:50 2008 +0000
@@ -85,6 +85,13 @@
#define EC_IOCTL_ACTIVATE EC_IO(0x19)
#define EC_IOCTL_SEND EC_IO(0x1a)
#define EC_IOCTL_RECEIVE EC_IO(0x1b)
+#define EC_IOCTL_SC_SYNC EC_IOW(0x1c, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x1c, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x1d, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x1e, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x1f, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_SDO EC_IOW(0x21, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_STRING_SIZE 64
@@ -368,6 +375,41 @@
/*****************************************************************************/
+typedef struct {
+ // inputs
+ uint32_t config_index;
+ uint16_t pdo_index;
+ uint16_t entry_index;
+ uint8_t entry_subindex;
+ uint8_t entry_bit_length;
+} ec_ioctl_add_pdo_entry_t;
+
+/*****************************************************************************/
+
+typedef struct {
+ // inputs
+ uint32_t config_index;
+ uint16_t entry_index;
+ uint8_t entry_subindex;
+ uint32_t domain_index;
+
+ // outputs
+ unsigned int bit_position;
+} ec_ioctl_reg_pdo_entry_t;
+
+/*****************************************************************************/
+
+typedef struct {
+ // inputs
+ uint32_t config_index;
+ uint16_t index;
+ uint8_t subindex;
+ const uint8_t *data;
+ size_t size;
+} ec_ioctl_sc_sdo_t;
+
+/*****************************************************************************/
+
/** \endcond */
#endif