Added some slave configuration methods.
authorFlorian Pose <fp@igh-essen.com>
Thu, 09 Oct 2008 13:31:50 +0000
changeset 1255 38b7e05b20c1
parent 1254 c19d273a9e76
child 1256 45fe0af4340b
Added some slave configuration methods.
examples/user/main.c
lib/Makefile.am
lib/domain.c
lib/domain.h
lib/master.c
lib/slave_config.c
lib/slave_config.h
master/cdev.c
master/ioctl.h
--- 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