--- a/include/ecrt.h Mon Oct 25 17:06:45 2010 +0200
+++ b/include/ecrt.h Tue Nov 30 15:24:21 2010 +0100
@@ -78,6 +78,7 @@
* - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,
* and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs
* ad-hoc via the user-space library.
+ * - Added ecrt_master_reset() to initiate retrying to configure slaves.
*
* @{
*/
@@ -859,6 +860,17 @@
ec_master_t *master /**< EtherCAT master. */
);
+/** Retry configuring slaves.
+ *
+ * Via this method, the application can tell the master to bring all slaves to
+ * OP state. In general, this is not necessary, because it is automatically
+ * done by the master. But with special slaves, that can be reconfigured by
+ * the vendor during runtime, it can be useful.
+ */
+void ecrt_master_reset(
+ ec_master_t *master /**< EtherCAT master. */
+ );
+
/******************************************************************************
* Slave configuration methods
*****************************************************************************/
--- a/lib/master.c Mon Oct 25 17:06:45 2010 +0200
+++ b/lib/master.c Tue Nov 30 15:24:21 2010 +0100
@@ -572,3 +572,12 @@
}
/*****************************************************************************/
+
+void ecrt_master_reset(ec_master_t *master)
+{
+ if (ioctl(master->fd, EC_IOCTL_RESET, NULL) == -1) {
+ fprintf(stderr, "Failed to reset master: %s\n", strerror(errno));
+ }
+}
+
+/*****************************************************************************/
--- a/master/cdev.c Mon Oct 25 17:06:45 2010 +0200
+++ b/master/cdev.c Tue Nov 30 15:24:21 2010 +0100
@@ -1992,6 +1992,25 @@
/*****************************************************************************/
+/** Reset configuration.
+ */
+int ec_cdev_ioctl_reset(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ down(&master->master_sem);
+ ecrt_master_reset(master);
+ up(&master->master_sem);
+ return 0;
+}
+
+/*****************************************************************************/
+
/** Configure a sync manager.
*/
int ec_cdev_ioctl_sc_sync(
@@ -3671,6 +3690,10 @@
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_mon_process(master, arg, priv);
+ case EC_IOCTL_RESET:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_reset(master, arg, priv);
case EC_IOCTL_SC_SYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
--- a/master/ioctl.h Mon Oct 25 17:06:45 2010 +0200
+++ b/master/ioctl.h Tue Nov 30 15:24:21 2010 +0100
@@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
-#define EC_IOCTL_VERSION_MAGIC 10
+#define EC_IOCTL_VERSION_MAGIC 11
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -95,7 +95,7 @@
// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x1e)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f)
-#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x10, ec_ioctl_config_t)
+#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x21, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x22)
#define EC_IOCTL_SEND EC_IO(0x23)
@@ -106,36 +106,37 @@
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x28)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x29)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2a, uint32_t)
-#define EC_IOCTL_SC_SYNC EC_IOW(0x2b, ec_ioctl_config_t)
-#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2c, ec_ioctl_config_t)
-#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2d, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2e, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2f, ec_ioctl_add_pdo_entry_t)
-#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x20, ec_ioctl_config_pdo_t)
-#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x21, ec_ioctl_reg_pdo_entry_t)
-#define EC_IOCTL_SC_DC EC_IOW(0x32, ec_ioctl_config_t)
-#define EC_IOCTL_SC_SDO EC_IOW(0x33, ec_ioctl_sc_sdo_t)
-#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x34, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SC_VOE EC_IOWR(0x35, ec_ioctl_voe_t)
-#define EC_IOCTL_SC_STATE EC_IOWR(0x36, ec_ioctl_sc_state_t)
-#define EC_IOCTL_SC_IDN EC_IOW(0x37, ec_ioctl_sc_idn_t)
-#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x38)
-#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x39)
-#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3a)
-#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3b, ec_ioctl_domain_state_t)
-#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x30, ec_ioctl_sdo_request_t)
-#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x41, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x42, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ EC_IOW(0x43, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x44, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_WRITE EC_IOWR(0x45, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_EXEC EC_IOWR(0x46, ec_ioctl_voe_t)
-#define EC_IOCTL_VOE_DATA EC_IOWR(0x47, ec_ioctl_voe_t)
-#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x48, size_t)
+#define EC_IOCTL_RESET EC_IO(0x2b)
+#define EC_IOCTL_SC_SYNC EC_IOW(0x2c, ec_ioctl_config_t)
+#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2d, ec_ioctl_config_t)
+#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2e, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2f, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x30, ec_ioctl_add_pdo_entry_t)
+#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x31, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t)
+#define EC_IOCTL_SC_DC EC_IOW(0x33, ec_ioctl_config_t)
+#define EC_IOCTL_SC_SDO EC_IOW(0x34, ec_ioctl_sc_sdo_t)
+#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x35, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SC_VOE EC_IOWR(0x36, ec_ioctl_voe_t)
+#define EC_IOCTL_SC_STATE EC_IOWR(0x37, ec_ioctl_sc_state_t)
+#define EC_IOCTL_SC_IDN EC_IOW(0x38, ec_ioctl_sc_idn_t)
+#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x39)
+#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x3a)
+#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3b)
+#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3c, ec_ioctl_domain_state_t)
+#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x40, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x41, ec_ioctl_sdo_request_t)
+#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x42, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x43, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ EC_IOW(0x44, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x45, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_WRITE EC_IOWR(0x46, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_EXEC EC_IOWR(0x47, ec_ioctl_voe_t)
+#define EC_IOCTL_VOE_DATA EC_IOWR(0x48, ec_ioctl_voe_t)
+#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x49, size_t)
/*****************************************************************************/
--- a/master/master.c Mon Oct 25 17:06:45 2010 +0200
+++ b/master/master.c Tue Nov 30 15:24:21 2010 +0100
@@ -2501,6 +2501,19 @@
/*****************************************************************************/
+void ecrt_master_reset(ec_master_t *master)
+{
+ ec_slave_config_t *sc;
+
+ list_for_each_entry(sc, &master->configs, list) {
+ if (sc->slave) {
+ ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP);
+ }
+ }
+}
+
+/*****************************************************************************/
+
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
@@ -2521,6 +2534,7 @@
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
EXPORT_SYMBOL(ecrt_master_write_idn);
EXPORT_SYMBOL(ecrt_master_read_idn);
+EXPORT_SYMBOL(ecrt_master_reset);
/** \endcond */