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Reverted default branch to stable-1.5.

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This commit is contained in:
Florian Pose
2014-11-03 15:20:05 +01:00
parent 8479fd7675
commit 99418519bd
664 changed files with 837025 additions and 12883 deletions
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lib/Makefile.am
+35 -11
View File
@@ -1,25 +1,25 @@
#------------------------------------------------------------------------------
#
# $Id$
#
# Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
#
#
# Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
#
# This file is part of the IgH EtherCAT master userspace library.
#
#
# The IgH EtherCAT master userspace library is free software; you can
# redistribute it and/or modify it under the terms of the GNU Lesser General
# Public License as published by the Free Software Foundation; version 2.1 of
# the License.
#
#
# The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
#
#
# You should have received a copy of the GNU Lesser General Public License
# along with the IgH EtherCAT master userspace library. If not, see
# <http://www.gnu.org/licenses/>.
#
#
# ---
#
# The license mentioned above concerns the source code only. Using the
@@ -28,27 +28,51 @@
#
#------------------------------------------------------------------------------
AM_CFLAGS = -Wall
lib_LTLIBRARIES = libethercat.la
#------------------------------------------------------------------------------
libethercat_la_LDFLAGS = -version-info 1:0:0
libethercat_la_CFLAGS = -I$(srcdir)/.. -fno-strict-aliasing
libethercat_la_SOURCES = \
common.c \
domain.c \
master.c \
reg_request.c \
sdo_request.c \
slave_config.c \
voe_handler.c
noinst_HEADERS = \
domain.h \
ioctl.h \
master.h \
reg_request.h \
sdo_request.h \
slave_config.h \
voe_handler.h
libethercat_la_CFLAGS = -fno-strict-aliasing -Wall
libethercat_la_LDFLAGS = -version-info 1:0:0
#------------------------------------------------------------------------------
if ENABLE_RTDM
lib_LTLIBRARIES += libethercat_rtdm.la
libethercat_rtdm_la_SOURCES = $(libethercat_la_SOURCES)
libethercat_rtdm_la_CFLAGS = $(libethercat_la_CFLAGS) -DUSE_RTDM
libethercat_rtdm_la_LDFLAGS = $(libethercat_la_LDFLAGS)
if ENABLE_XENOMAI
libethercat_rtdm_la_CFLAGS += $(XENOMAI_RTDM_CFLAGS)
libethercat_rtdm_la_LDFLAGS += $(XENOMAI_RTDM_LDFLAGS)
endif
if ENABLE_RTAI
libethercat_rtdm_la_CFLAGS += $(RTAI_LXRT_CFLAGS)
libethercat_rtdm_la_LDFLAGS += $(RTAI_LXRT_LDFLAGS)
endif
endif
#------------------------------------------------------------------------------
lib/common.c
+20 -9
View File
@@ -2,7 +2,7 @@
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
@@ -33,15 +33,13 @@
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <unistd.h>
#include <sys/socket.h>
#include "ioctl.h"
#include "master.h"
#include "master/ioctl.h"
/*****************************************************************************/
@@ -75,6 +73,7 @@ ec_master_t *ecrt_open_master(unsigned int master_index)
char path[MAX_PATH_LEN];
ec_master_t *master = NULL;
ec_ioctl_module_t module_data;
int ret;
master = malloc(sizeof(ec_master_t));
if (!master) {
@@ -87,17 +86,29 @@ ec_master_t *ecrt_open_master(unsigned int master_index)
master->first_domain = NULL;
master->first_config = NULL;
snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);
snprintf(path, MAX_PATH_LEN - 1,
#ifdef USE_RTDM
"EtherCAT%u",
#else
"/dev/EtherCAT%u",
#endif
master_index);
#ifdef USE_RTDM
master->fd = rt_dev_open(path, O_RDWR);
#else
master->fd = open(path, O_RDWR);
if (master->fd == -1) {
fprintf(stderr, "Failed to open %s: %s\n", path, strerror(errno));
#endif
if (EC_IOCTL_IS_ERROR(master->fd)) {
fprintf(stderr, "Failed to open %s: %s\n", path,
strerror(EC_IOCTL_ERRNO(master->fd)));
goto out_clear;
}
if (ioctl(master->fd, EC_IOCTL_MODULE, &module_data) < 0) {
ret = ioctl(master->fd, EC_IOCTL_MODULE, &module_data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get module information from %s: %s\n",
path, strerror(errno));
path, strerror(EC_IOCTL_ERRNO(ret)));
goto out_clear;
}
lib/domain.c
+48 -34
View File
@@ -1,11 +1,11 @@
/******************************************************************************
*
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
*
* ---
*
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
@@ -35,15 +35,13 @@
/*****************************************************************************/
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <errno.h> /* ENOENT */
#include "ioctl.h"
#include "domain.h"
#include "master.h"
#include "master/ioctl.h"
/*****************************************************************************/
@@ -52,13 +50,6 @@ void ec_domain_clear(ec_domain_t *domain)
// nothing to do
}
/*****************************************************************************/
unsigned int ecrt_domain_index(ec_domain_t *domain)
{
return domain->index;
}
/*****************************************************************************/
int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
@@ -67,15 +58,15 @@ int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
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; // FIXME
return -ENOENT;
if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
reg->subindex, domain, reg->bit_position)) < 0)
return -1; // FIXME
return ret;
*reg->offset = ret;
}
@@ -85,6 +76,21 @@ int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
/*****************************************************************************/
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) {
@@ -92,12 +98,12 @@ uint8_t *ecrt_domain_data(ec_domain_t *domain)
offset = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_OFFSET,
domain->index);
if (offset == -1) {
if (EC_IOCTL_IS_ERROR(offset)) {
fprintf(stderr, "Failed to get domain offset: %s\n",
strerror(errno));
return NULL;
strerror(EC_IOCTL_ERRNO(offset)));
return NULL;
}
domain->process_data = domain->master->process_data + offset;
}
@@ -108,9 +114,12 @@ uint8_t *ecrt_domain_data(ec_domain_t *domain)
void ecrt_domain_process(ec_domain_t *domain)
{
if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS,
domain->index) == -1) {
fprintf(stderr, "Failed to process domain: %s\n", strerror(errno));
int ret;
ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS, domain->index);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to process domain: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -118,9 +127,12 @@ void ecrt_domain_process(ec_domain_t *domain)
void ecrt_domain_queue(ec_domain_t *domain)
{
if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE,
domain->index) == -1) {
fprintf(stderr, "Failed to queue domain: %s\n", strerror(errno));
int ret;
ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE, domain->index);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to queue domain: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
@@ -129,13 +141,15 @@ void ecrt_domain_queue(ec_domain_t *domain)
void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
{
ec_ioctl_domain_state_t data;
int ret;
data.domain_index = domain->index;
data.state = state;
if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data) == -1) {
ret = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get domain state: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
lib/domain.h
+6 -6
View File
@@ -1,11 +1,11 @@
/******************************************************************************
*
*
* $Id$
*
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
*
* This file is part of the IgH EtherCAT master userspace library.
*
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
*
* ---
*
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
lib/ioctl.h
+73
View File
@@ -0,0 +1,73 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
*
* The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
#ifndef __EC_LIB_IOCTL_H__
#define __EC_LIB_IOCTL_H__
/*****************************************************************************/
#ifdef USE_RTDM
#include <rtdm/rtdm.h>
#else
#include <sys/ioctl.h>
#endif
/*****************************************************************************/
#include "master/ioctl.h"
/*****************************************************************************/
#ifdef USE_RTDM
#define ioctl rt_dev_ioctl
/* rt_dev_ioctl() returns negative error code */
#define EC_IOCTL_IS_ERROR(X) ((X) < 0)
#define EC_IOCTL_ERRNO(X) (-(X))
#else
#define ioctl ioctl
/* libc's ioctl() always returns -1 on error and sets errno */
#define EC_IOCTL_IS_ERROR(X) ((X) == -1)
#define EC_IOCTL_ERRNO(X) (errno)
#include <errno.h>
#endif
/*****************************************************************************/
#endif /* __EC_LIB_IOCTL_H__ */
/*****************************************************************************/
lib/master.c
+258 -124
View File
File diff suppressed because it is too large Load Diff
lib/master.h
+6 -6
View File
@@ -1,11 +1,11 @@
/******************************************************************************
*
*
* $Id$
*
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
*
* This file is part of the IgH EtherCAT master userspace library.
*
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
*
* ---
*
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
lib/reg_request.c
+138
View File
@@ -0,0 +1,138 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
*
* The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
* EtherCAT register request functions.
*/
/*****************************************************************************/
#include <stdio.h>
#include <string.h>
#include "ioctl.h"
#include "reg_request.h"
#include "slave_config.h"
#include "master.h"
/*****************************************************************************/
void ec_reg_request_clear(ec_reg_request_t *reg)
{
if (reg->data) {
free(reg->data);
}
}
/*****************************************************************************
* Application interface.
****************************************************************************/
uint8_t *ecrt_reg_request_data(ec_reg_request_t *reg)
{
return reg->data;
}
/*****************************************************************************/
ec_request_state_t ecrt_reg_request_state(ec_reg_request_t *reg)
{
ec_ioctl_reg_request_t io;
int ret;
io.config_index = reg->config->index;
io.request_index = reg->index;
ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_STATE, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get register request state: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
if (io.new_data) { // new data waiting to be copied
io.data = reg->data;
io.mem_size = reg->mem_size;
ret = ioctl(reg->config->master->fd,
EC_IOCTL_REG_REQUEST_DATA, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get register data: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
}
return io.state;
}
/*****************************************************************************/
void ecrt_reg_request_write(ec_reg_request_t *reg, uint16_t address,
size_t size)
{
ec_ioctl_reg_request_t io;
int ret;
io.config_index = reg->config->index;
io.request_index = reg->index;
io.data = reg->data;
io.address = address;
io.transfer_size = size;
ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_WRITE, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to command an register write operation: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
void ecrt_reg_request_read(ec_reg_request_t *reg, uint16_t address,
size_t size)
{
ec_ioctl_reg_request_t io;
int ret;
io.config_index = reg->config->index;
io.request_index = reg->index;
io.address = address;
io.transfer_size = size;
ret = ioctl(reg->config->master->fd, EC_IOCTL_REG_REQUEST_READ, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to command an register read operation: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
lib/reg_request.h
+47
View File
@@ -0,0 +1,47 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
*
* The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
#include "include/ecrt.h"
/*****************************************************************************/
struct ec_reg_request {
ec_reg_request_t *next; /**< List header. */
ec_slave_config_t *config; /**< Parent slave configuration. */
unsigned int index; /**< Request index (identifier). */
uint8_t *data; /**< Data memory. */
size_t mem_size; /**< Size of \a data. */
};
/*****************************************************************************/
void ec_reg_request_clear(ec_reg_request_t *);
/*****************************************************************************/
lib/sdo_request.c
+55 -32
View File
@@ -2,10 +2,10 @@
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
*
* ---
*
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
@@ -35,11 +35,10 @@
/*****************************************************************************/
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include "ioctl.h"
#include "sdo_request.h"
#include "master/ioctl.h"
#include "slave_config.h"
#include "master.h"
@@ -56,18 +55,40 @@ void ec_sdo_request_clear(ec_sdo_request_t *req)
* Application interface.
****************************************************************************/
void ecrt_sdo_request_index(ec_sdo_request_t *req, uint16_t index,
uint8_t subindex)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
data.sdo_index = index;
data.sdo_subindex = subindex;
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_INDEX, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to set SDO request index/subindex: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
data.timeout = timeout;
if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT,
&data) == -1)
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to set SDO request timeout: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
@@ -89,34 +110,32 @@ size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE,
&data) == -1)
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get SDO request state: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
if (data.size) { // new data waiting to be copied
if (req->mem_size < data.size) {
if (req->data)
free(req->data);
req->data = malloc(data.size);
if (!req->data) {
req->mem_size = 0;
fprintf(stderr, "Failed to allocate %u bytes of SDO data"
" memory!\n", data.size);
return EC_REQUEST_ERROR;
}
req->mem_size = data.size;
fprintf(stderr, "Received %zu bytes do not fit info SDO data"
" memory (%zu bytes)!\n", data.size, req->mem_size);
return EC_REQUEST_ERROR;
}
data.data = req->data;
if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_DATA,
&data) == -1) {
fprintf(stderr, "Failed to get SDO data: %s\n", strerror(errno));
ret = ioctl(req->config->master->fd,
EC_IOCTL_SDO_REQUEST_DATA, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get SDO data: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
req->data_size = data.size;
@@ -130,14 +149,16 @@ ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req)
void ecrt_sdo_request_read(ec_sdo_request_t *req)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ,
&data) == -1)
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to command an SDO read operation : %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
@@ -145,16 +166,18 @@ void ecrt_sdo_request_read(ec_sdo_request_t *req)
void ecrt_sdo_request_write(ec_sdo_request_t *req)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
data.data = req->data;
data.size = req->data_size;
if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE,
&data) == -1)
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to command an SDO write operation : %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
lib/sdo_request.h
+6 -6
View File
@@ -1,11 +1,11 @@
/******************************************************************************
*
*
* $Id$
*
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
*
* This file is part of the IgH EtherCAT master userspace library.
*
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
*
* ---
*
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
lib/slave_config.c
+279 -75
View File
File diff suppressed because it is too large Load Diff
lib/slave_config.h
+8 -7
View File
@@ -1,11 +1,11 @@
/******************************************************************************
*
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
*
* ---
*
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
@@ -39,6 +39,7 @@ struct ec_slave_config {
uint16_t alias;
uint16_t position;
ec_sdo_request_t *first_sdo_request;
ec_reg_request_t *first_reg_request;
ec_voe_handler_t *first_voe_handler;
};
lib/voe_handler.c
+46 -34
View File
@@ -1,11 +1,11 @@
/******************************************************************************
*
*
* $Id$
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
*
* ---
*
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
@@ -35,22 +35,21 @@
/*****************************************************************************/
#include <stdlib.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include "ioctl.h"
#include "voe_handler.h"
#include "slave_config.h"
#include "master.h"
#include "master/ioctl.h"
/*****************************************************************************/
void ec_voe_handler_clear(ec_voe_handler_t *voe)
{
if (voe->data)
if (voe->data) {
free(voe->data);
}
}
/*****************************************************************************/
@@ -59,15 +58,18 @@ void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
uint16_t vendor_type)
{
ec_ioctl_voe_t data;
int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.vendor_id = &vendor_id;
data.vendor_type = &vendor_type;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data) == -1)
ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to set VoE send header: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
@@ -76,15 +78,18 @@ void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
uint32_t *vendor_id, uint16_t *vendor_type)
{
ec_ioctl_voe_t data;
int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.vendor_id = vendor_id;
data.vendor_type = vendor_type;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data) == -1)
ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get received VoE header: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
@@ -106,13 +111,16 @@ size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)
void ecrt_voe_handler_read(ec_voe_handler_t *voe)
{
ec_ioctl_voe_t data;
int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data) == -1)
ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to initiate VoE reading: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
@@ -120,13 +128,16 @@ void ecrt_voe_handler_read(ec_voe_handler_t *voe)
void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)
{
ec_ioctl_voe_t data;
int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data) == -1)
ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to initiate VoE reading: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
@@ -134,15 +145,18 @@ void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)
void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
{
ec_ioctl_voe_t data;
int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.size = size;
data.data = voe->data;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1)
ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to initiate VoE writing: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
@@ -150,33 +164,31 @@ void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
{
ec_ioctl_voe_t data;
int ret;
data.config_index = voe->config->index;
data.voe_index = voe->index;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data) == -1) {
ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to execute VoE handler: %s\n",
strerror(errno));
strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
if (data.size) { // new data waiting to be copied
if (voe->mem_size < data.size) {
if (voe->data)
free(voe->data);
voe->data = malloc(data.size);
if (!voe->data) {
voe->mem_size = 0;
fprintf(stderr, "Failed to allocate VoE data memory!");
return EC_REQUEST_ERROR;
}
voe->mem_size = data.size;
fprintf(stderr, "Received %zu bytes do not fit info VoE data"
" memory (%zu bytes)!\n", data.size, voe->mem_size);
return EC_REQUEST_ERROR;
}
data.data = voe->data;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) {
fprintf(stderr, "Failed to get VoE data: %s\n", strerror(errno));
ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get VoE data: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
voe->data_size = data.size;
lib/voe_handler.h
+6 -6
View File
@@ -1,11 +1,11 @@
/******************************************************************************
*
*
* $Id$
*
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
*
*
* This file is part of the IgH EtherCAT master userspace library.
*
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
@@ -19,9 +19,9 @@
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
*
* ---
*
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.