--- a/include/ecrt.h Tue Feb 05 15:24:02 2013 +0100
+++ b/include/ecrt.h Tue Feb 05 15:24:45 2013 +0100
@@ -1519,16 +1519,16 @@
registrations. */
);
-#ifdef __KERNEL__
-
/** Returns the current size of the domain's process data.
*
- * \return Size of the process data image.
+ * \return Size of the process data image, or a negative error code.
*/
size_t ecrt_domain_size(
const ec_domain_t *domain /**< Domain. */
);
+#ifdef __KERNEL__
+
/** Provide external memory to store the domain's process data.
*
* Call this after all PDO entries have been registered and before activating
--- a/lib/domain.c Tue Feb 05 15:24:02 2013 +0100
+++ b/lib/domain.c Tue Feb 05 15:24:45 2013 +0100
@@ -76,6 +76,21 @@
/*****************************************************************************/
+size_t ecrt_domain_size(const ec_domain_t *domain)
+{
+ int ret;
+
+ ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_SIZE, domain->index);
+ if (EC_IOCTL_IS_ERROR(ret)) {
+ fprintf(stderr, "Failed to get domain size: %s\n",
+ strerror(EC_IOCTL_ERRNO(ret)));
+ }
+
+ return ret;
+}
+
+/*****************************************************************************/
+
uint8_t *ecrt_domain_data(ec_domain_t *domain)
{
if (!domain->process_data) {
--- a/master/ioctl.c Tue Feb 05 15:24:02 2013 +0100
+++ b/master/ioctl.c Tue Feb 05 15:24:45 2013 +0100
@@ -2730,6 +2730,38 @@
/*****************************************************************************/
+/** Gets the domain's data size.
+ */
+static ATTRIBUTES int ec_ioctl_domain_size(
+ ec_master_t *master, /**< EtherCAT master. */
+ void *arg, /**< ioctl() argument. */
+ ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
+ )
+{
+ const ec_domain_t *domain;
+
+ if (unlikely(!ctx->requested)) {
+ return -EPERM;
+ }
+
+ if (down_interruptible(&master->master_sem)) {
+ return -EINTR;
+ }
+
+ list_for_each_entry(domain, &master->domains, list) {
+ if (domain->index == (unsigned long) arg) {
+ size_t size = ecrt_domain_size(domain);
+ up(&master->master_sem);
+ return size;
+ }
+ }
+
+ up(&master->master_sem);
+ return -ENOENT;
+}
+
+/*****************************************************************************/
+
/** Gets the domain's offset in the total process data.
*/
static ATTRIBUTES int ec_ioctl_domain_offset(
@@ -4186,6 +4218,9 @@
}
ret = ec_ioctl_sc_idn(master, arg, ctx);
break;
+ case EC_IOCTL_DOMAIN_SIZE:
+ ret = ec_ioctl_domain_size(master, arg, ctx);
+ break;
case EC_IOCTL_DOMAIN_OFFSET:
ret = ec_ioctl_domain_offset(master, arg, ctx);
break;
--- a/master/ioctl.h Tue Feb 05 15:24:02 2013 +0100
+++ b/master/ioctl.h Tue Feb 05 15:24:45 2013 +0100
@@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
-#define EC_IOCTL_VERSION_MAGIC 25
+#define EC_IOCTL_VERSION_MAGIC 26
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -128,28 +128,29 @@
#define EC_IOCTL_SC_VOE EC_IOWR(0x3e, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x3f, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x40, ec_ioctl_sc_idn_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x41)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x42)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x43)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x44, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x45, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x46, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x47, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x48, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x49, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x4a, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x4b, ec_ioctl_reg_request_t)
-#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x4c, ec_ioctl_reg_request_t)
-#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x4d, ec_ioctl_reg_request_t)
-#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x4e, ec_ioctl_reg_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x4f, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x50, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x51, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x52, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x53, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x54, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x55, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x56, size_t)
+#define EC_IOCTL_DOMAIN_SIZE EC_IO(0x41)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x42)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x43)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x44)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x45, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x46, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x47, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x48, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x49, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x4a, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x4b, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x4c, ec_ioctl_reg_request_t)
+#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x4d, ec_ioctl_reg_request_t)
+#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x4e, ec_ioctl_reg_request_t)
+#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x4f, ec_ioctl_reg_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x50, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x51, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x52, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x53, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x54, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x55, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x56, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x57, size_t)
/*****************************************************************************/