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Added ecrt_slave_config_state_timeout() in user-space library.

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This commit is contained in:
Florian Pose
2024-05-22 12:06:48 +02:00
parent b182bef611
commit 95a25495af
4 changed files with 113 additions and 30 deletions
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1
lib/libethercat.map
View File

@@ -110,4 +110,5 @@ LIBETHERCAT_1.6 {
ecrt_slave_config_eoe_default_gateway;
ecrt_slave_config_eoe_dns_address;
ecrt_slave_config_eoe_hostname;
ecrt_slave_config_state_timeout;
} LIBETHERCAT_1.5.3;

24
lib/slave_config.c
View File

@@ -1038,3 +1038,27 @@ int ecrt_slave_config_eoe_hostname(ec_slave_config_t *sc,
#endif // EC_EOE
/****************************************************************************/
int ecrt_slave_config_state_timeout(ec_slave_config_t *sc,
ec_al_state_t from_state, ec_al_state_t to_state,
unsigned int timeout_ms)
{
ec_ioctl_sc_state_timeout_t io = {};
int ret;
io.config_index = sc->index;
io.from_state = from_state;
io.to_state = to_state;
io.timeout_ms = timeout_ms;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_STATE_TIMEOUT, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to configure AL state timeout: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/

47
master/ioctl.c
View File

@@ -3332,6 +3332,46 @@ static ATTRIBUTES int ec_ioctl_sc_flag(
/****************************************************************************/
/** Sets an AL state transition timeout.
*
* \return Zero on success, otherwise a negative error code.
*/
static ATTRIBUTES int ec_ioctl_sc_state_timeout(
ec_master_t *master, /**< EtherCAT master. */
void *arg, /**< ioctl() argument. */
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
)
{
ec_ioctl_sc_state_timeout_t ioctl;
ec_slave_config_t *sc;
int ret;
if (unlikely(!ctx->requested)) {
return -EPERM;
}
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem)) {
return -EINTR;
}
if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
up(&master->master_sem);
return -ENOENT;
}
up(&master->master_sem); /** \todo sc could be invalidated */
ret = ecrt_slave_config_state_timeout(sc, ioctl.from_state,
ioctl.to_state, ioctl.timeout_ms);
return ret;
}
/****************************************************************************/
#ifdef EC_EOE
/** Configures EoE IP parameters.
@@ -5493,6 +5533,13 @@ static long ec_ioctl_nrt
}
ret = ec_ioctl_sc_flag(master, arg, ctx);
break;
case EC_IOCTL_SC_STATE_TIMEOUT:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_sc_state_timeout(master, arg, ctx);
break;
#ifdef EC_EOE
case EC_IOCTL_SC_EOE_IP_PARAM:
if (!ctx->writable) {

71
master/ioctl.h
View File

@@ -47,7 +47,7 @@
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 36
#define EC_IOCTL_VERSION_MAGIC 37
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -131,35 +131,36 @@
#ifdef EC_EOE
#define EC_IOCTL_SC_EOE_IP_PARAM EC_IOW(0x48, ec_ioctl_eoe_ip_t)
#endif
#define EC_IOCTL_DOMAIN_SIZE EC_IO(0x49)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x4a)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x4b)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x4c)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x4d, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x4e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x4f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x50, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x51, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x52, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x53, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SOE_REQUEST_IDN EC_IOWR(0x54, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_TIMEOUT EC_IOWR(0x55, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_STATE EC_IOWR(0x56, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_READ EC_IOWR(0x57, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_WRITE EC_IOWR(0x58, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_DATA EC_IOWR(0x59, ec_ioctl_soe_request_t)
#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x5a, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x5b, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x5c, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x5d, ec_ioctl_reg_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x5e, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x5f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x60, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x61, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x62, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x63, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x64, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x65, size_t)
#define EC_IOCTL_SC_STATE_TIMEOUT EC_IOW(0x49, ec_ioctl_sc_state_timeout_t)
#define EC_IOCTL_DOMAIN_SIZE EC_IO(0x4a)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x4b)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x4c)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x4d)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x4e, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x4f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x50, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x51, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x52, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x53, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x54, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SOE_REQUEST_IDN EC_IOWR(0x55, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_TIMEOUT EC_IOWR(0x56, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_STATE EC_IOWR(0x57, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_READ EC_IOWR(0x58, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_WRITE EC_IOWR(0x59, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_DATA EC_IOWR(0x5a, ec_ioctl_soe_request_t)
#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x5b, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x5c, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x5d, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x5e, ec_ioctl_reg_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x5f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x60, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x61, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x62, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x63, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x64, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x65, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x66, size_t)
/****************************************************************************/
@@ -749,6 +750,16 @@ typedef struct {
/****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
ec_al_state_t from_state;
ec_al_state_t to_state;
uint32_t timeout_ms;
} ec_ioctl_sc_state_timeout_t;
/****************************************************************************/
typedef struct {
// inputs
uint32_t domain_index;