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Merge branch '84-api-call-for-eoe-set-ip-command' into 'devel-1.6'

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API call for EoE Set-IP command

See merge request etherlab.org/ethercat!111
This commit is contained in:
Florian Pose
2024-05-21 13:58:03 +00:00
parent 997c81b6fa dea5173310
commit d717cfc1e6
24 changed files with 917 additions and 180 deletions
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27
master/eoe_request.c
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2014 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -51,13 +51,30 @@ void ec_eoe_request_init(
req->name_included = 0;
memset(req->mac_address, 0x00, ETH_ALEN);
req->ip_address = 0;
req->subnet_mask = 0;
req->gateway = 0;
req->dns = 0;
req->ip_address.s_addr = 0;
req->subnet_mask.s_addr = 0;
req->gateway.s_addr = 0;
req->dns.s_addr = 0;
req->name[0] = 0x00;
req->result = 0x0000;
}
/****************************************************************************/
/** Checks if EoE request has something to set.
*/
int ec_eoe_request_valid(
const ec_eoe_request_t *req /**< EoE request. */
)
{
return
req->mac_address_included ||
req->ip_address_included ||
req->subnet_mask_included ||
req->gateway_included ||
req->dns_included ||
req->name_included;
}
/****************************************************************************/

9
master/eoe_request.h
View File

@@ -51,10 +51,10 @@ typedef struct {
uint8_t name_included;
unsigned char mac_address[ETH_ALEN];
uint32_t ip_address;
uint32_t subnet_mask;
uint32_t gateway;
uint32_t dns;
struct in_addr ip_address;
struct in_addr subnet_mask;
struct in_addr gateway;
struct in_addr dns;
char name[EC_MAX_HOSTNAME_SIZE];
uint16_t result;
@@ -63,6 +63,7 @@ typedef struct {
/****************************************************************************/
void ec_eoe_request_init(ec_eoe_request_t *);
int ec_eoe_request_valid(const ec_eoe_request_t *);
/****************************************************************************/

5
master/ethernet.c
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -48,6 +48,7 @@
# define SUSE_PATCHLEVEL 0
# endif
#endif
/****************************************************************************/
/** Defines the debug level of EoE processing.
@@ -526,7 +527,7 @@ void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE handler */)
#if EOE_DEBUG_LEVEL >= 2
EC_SLAVE_DBG(eoe->slave, 0, "EoE %s RX fragment %u%s, offset %u,"
" frame %u%s, %u octets\n", eoe->dev->name, fragment_number,
" frame %u%s, %zu octets\n", eoe->dev->name, fragment_number,
last_fragment ? "" : "+", fragment_offset, frame_number,
time_appended ? ", + timestamp" : "",
time_appended ? rec_size - 8 : rec_size - 4);

58
master/fsm_eoe.c
View File

@@ -33,6 +33,24 @@
/****************************************************************************/
/** Host-architecture-independent 32-bit swap function.
*
* The internal storage of struct in_addr is always big-endian.
* The mailbox protocol format to supply IPv4 adresses is little-endian
* (Yuck!). So we need a swap function, that is independent of the CPU
* architecture. ntohl()/htonl() can not be used, because they evaluate to
* NOPs if the host architecture matches the target architecture!
*/
void memcpy_swap32(void *dst, const void *src)
{
int i;
for (i = 0; i < 4; i++) {
((u8 *) dst)[i] = ((const u8 *) src)[3 - i];
}
}
/****************************************************************************/
/** Maximum time to wait for a set IP parameter response.
*/
#define EC_EOE_RESPONSE_TIMEOUT 3000 // [ms]
@@ -61,6 +79,7 @@ void ec_fsm_eoe_init(
fsm->datagram = NULL;
fsm->jiffies_start = 0;
fsm->request = NULL;
fsm->frame_type_retries = 0;
}
/****************************************************************************/
@@ -197,26 +216,22 @@ int ec_fsm_eoe_prepare_set(
cur += ETH_ALEN;
if (req->ip_address_included) {
uint32_t swapped = htonl(req->ip_address);
memcpy(cur, &swapped, 4);
memcpy_swap32(cur, &req->ip_address);
}
cur += 4;
if (req->subnet_mask_included) {
uint32_t swapped = htonl(req->subnet_mask);
memcpy(cur, &swapped, 4);
memcpy_swap32(cur, &req->subnet_mask);
}
cur += 4;
if (req->gateway_included) {
uint32_t swapped = htonl(req->gateway);
memcpy(cur, &swapped, 4);
memcpy_swap32(cur, &req->gateway);
}
cur += 4;
if (req->dns_included) {
uint32_t swapped = htonl(req->dns);
memcpy(cur, &swapped, 4);
memcpy_swap32(cur, &req->dns);
}
cur += 4;
@@ -313,6 +328,7 @@ void ec_fsm_eoe_set_ip_request(
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_eoe_set_ip_check;
fsm->frame_type_retries = 10;
}
/****************************************************************************/
@@ -431,14 +447,28 @@ void ec_fsm_eoe_set_ip_response(
frame_type = EC_READ_U8(data) & 0x0f;
if (frame_type != EC_EOE_FRAMETYPE_SET_IP_RES) {
EC_SLAVE_ERR(slave, "Received no set IP parameter response"
" (frame type %x).\n", frame_type);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_eoe_error;
return;
if (master->debug_level) {
EC_SLAVE_DBG(slave, 0, "Received no set IP parameter response"
" (frame type %x).\n", frame_type);
ec_print_data(data, rec_size);
}
if (fsm->frame_type_retries--) {
// there may be an EoE segment left in the mailbox.
// discard it and receive again.
fsm->jiffies_start = fsm->datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_eoe_set_ip_check;
return;
}
else {
EC_SLAVE_ERR(slave, "Received no set IP parameter response.\n");
fsm->state = ec_fsm_eoe_error;
return;
}
}
req->result = EC_READ_U16(data + 2);
req->result = EC_READ_U16(data + 2); // result code 0x0000 means success
if (req->result) {
fsm->state = ec_fsm_eoe_error;

1
master/fsm_eoe.h
View File

@@ -48,6 +48,7 @@ struct ec_fsm_eoe {
ec_datagram_t *datagram; /**< Datagram used in the previous step. */
unsigned long jiffies_start; /**< Timestamp. */
ec_eoe_request_t *request; /**< EoE request */
unsigned int frame_type_retries; /**< retries upon wrong frame type. */
};
/****************************************************************************/

5
master/fsm_master.c
View File

@@ -92,9 +92,11 @@ void ec_fsm_master_init(
ec_fsm_coe_init(&fsm->fsm_coe);
ec_fsm_soe_init(&fsm->fsm_soe);
ec_fsm_pdo_init(&fsm->fsm_pdo, &fsm->fsm_coe);
ec_fsm_eoe_init(&fsm->fsm_eoe);
ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
ec_fsm_slave_config_init(&fsm->fsm_slave_config, fsm->datagram,
&fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_soe, &fsm->fsm_pdo);
&fsm->fsm_change, &fsm->fsm_coe, &fsm->fsm_soe, &fsm->fsm_pdo,
&fsm->fsm_eoe);
ec_fsm_slave_scan_init(&fsm->fsm_slave_scan, fsm->datagram,
&fsm->fsm_slave_config, &fsm->fsm_pdo);
ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
@@ -112,6 +114,7 @@ void ec_fsm_master_clear(
ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_soe_clear(&fsm->fsm_soe);
ec_fsm_pdo_clear(&fsm->fsm_pdo);
ec_fsm_eoe_clear(&fsm->fsm_eoe);
ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_slave_config_clear(&fsm->fsm_slave_config);
ec_fsm_slave_scan_clear(&fsm->fsm_slave_scan);

1
master/fsm_master.h
View File

@@ -85,6 +85,7 @@ struct ec_fsm_master {
ec_fsm_coe_t fsm_coe; /**< CoE state machine */
ec_fsm_soe_t fsm_soe; /**< SoE state machine */
ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */
ec_fsm_eoe_t fsm_eoe; /**< EoE state machine */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */

60
master/fsm_slave_config.c
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2023 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -67,6 +67,7 @@ void ec_fsm_slave_config_state_assign_ethercat(ec_fsm_slave_config_t *);
#endif
void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_eoe_ip_param(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
@@ -91,6 +92,7 @@ void ec_fsm_slave_config_enter_assign_pdi(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_eoe_ip_param(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
@@ -117,7 +119,8 @@ void ec_fsm_slave_config_init(
ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
ec_fsm_soe_t *fsm_soe, /**< SoE state machine to use. */
ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
ec_fsm_pdo_t *fsm_pdo, /**< PDO configuration state machine to use. */
ec_fsm_eoe_t *fsm_eoe /**< EoE state machine to use. */
)
{
ec_sdo_request_init(&fsm->request_copy);
@@ -128,6 +131,7 @@ void ec_fsm_slave_config_init(
fsm->fsm_coe = fsm_coe;
fsm->fsm_soe = fsm_soe;
fsm->fsm_pdo = fsm_pdo;
fsm->fsm_eoe = fsm_eoe;
fsm->wait_ms = 0;
}
@@ -901,7 +905,7 @@ void ec_fsm_slave_config_enter_soe_conf_preop(
}
// No SoE configuration to be applied in PREOP
ec_fsm_slave_config_enter_pdo_conf(fsm);
ec_fsm_slave_config_enter_eoe_ip_param(fsm);
}
/****************************************************************************/
@@ -945,6 +949,56 @@ void ec_fsm_slave_config_state_soe_conf_preop(
}
// All PREOP IDNs are now configured.
ec_fsm_slave_config_enter_eoe_ip_param(fsm);
}
/****************************************************************************/
/** EOE_IP_PARAM entry function.
*/
void ec_fsm_slave_config_enter_eoe_ip_param(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
#if EC_EOE
ec_slave_t *slave = fsm->slave;
ec_eoe_request_t *request = &slave->config->eoe_ip_param_request;
if (ec_eoe_request_valid(request)) {
EC_SLAVE_DBG(slave, 1, "Setting EoE IP parameters...\n");
// Start EoE command
fsm->state = ec_fsm_slave_config_state_eoe_ip_param;
ec_fsm_eoe_set_ip_param(fsm->fsm_eoe, slave, request);
ec_fsm_eoe_exec(fsm->fsm_eoe, fsm->datagram); // execute immediately
return;
}
#endif
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
/****************************************************************************/
/** Slave configuration state: EOE_IP_PARAM.
*/
void ec_fsm_slave_config_state_eoe_ip_param(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
if (ec_fsm_eoe_exec(fsm->fsm_eoe, fsm->datagram)) {
return;
}
if (ec_fsm_eoe_success(fsm->fsm_eoe)) {
EC_SLAVE_DBG(slave, 1, "Finished setting EoE IP parameters.\n");
}
else {
EC_SLAVE_ERR(slave, "Failed to set EoE IP parameters.\n");
}
ec_fsm_slave_config_enter_pdo_conf(fsm);
}

7
master/fsm_slave_config.h
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2023 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -34,6 +34,7 @@
#include "fsm_change.h"
#include "fsm_coe.h"
#include "fsm_pdo.h"
#include "fsm_eoe.h"
/****************************************************************************/
@@ -49,6 +50,7 @@ struct ec_fsm_slave_config
ec_fsm_coe_t *fsm_coe; /**< CoE state machine. */
ec_fsm_soe_t *fsm_soe; /**< SoE state machine. */
ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */
ec_fsm_eoe_t *fsm_eoe; /**< EoE state machine. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
void (*state)(ec_fsm_slave_config_t *); /**< State function. */
@@ -65,7 +67,8 @@ struct ec_fsm_slave_config
/****************************************************************************/
void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,
ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *);
ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *,
ec_fsm_eoe_t *);
void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);

148
master/ioctl.c
View File

@@ -1584,6 +1584,74 @@ static ATTRIBUTES int ec_ioctl_config_flag(
#ifdef EC_EOE
/** Get configured EoE IP parameters for a given slave configuration.
*
* \return Zero on success, otherwise a negative error code.
*/
static ATTRIBUTES int ec_ioctl_config_ip(
ec_master_t *master, /**< EtherCAT master. */
void *arg /**< ioctl() argument. */
)
{
ec_ioctl_eoe_ip_t *ioctl;
const ec_slave_config_t *sc;
const ec_eoe_request_t *req;
if (!(ioctl = kmalloc(sizeof(*ioctl), GFP_KERNEL))) {
return -ENOMEM;
}
if (copy_from_user(ioctl, (void __user *) arg, sizeof(*ioctl))) {
kfree(ioctl);
return -EFAULT;
}
if (down_interruptible(&master->master_sem)) {
kfree(ioctl);
return -EINTR;
}
if (!(sc = ec_master_get_config_const(master, ioctl->config_index))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
ioctl->config_index);
kfree(ioctl);
return -EINVAL;
}
req = &sc->eoe_ip_param_request;
ioctl->mac_address_included = req->mac_address_included;
ioctl->ip_address_included = req->ip_address_included;
ioctl->subnet_mask_included = req->subnet_mask_included;
ioctl->gateway_included = req->gateway_included;
ioctl->dns_included = req->dns_included;
ioctl->name_included = req->name_included;
memcpy(ioctl->mac_address, req->mac_address, EC_ETH_ALEN);
ioctl->ip_address = req->ip_address;
ioctl->subnet_mask = req->subnet_mask;
ioctl->gateway = req->gateway;
ioctl->dns = req->dns;
strncpy(ioctl->name, req->name, EC_MAX_HOSTNAME_SIZE);
up(&master->master_sem);
if (copy_to_user((void __user *) arg, ioctl, sizeof(*ioctl))) {
kfree(ioctl);
return -EFAULT;
}
kfree(ioctl);
return 0;
}
#endif
/****************************************************************************/
#ifdef EC_EOE
/** Get EoE handler information.
*
* \return Zero on success, otherwise a negative error code.
@@ -1646,7 +1714,7 @@ static ATTRIBUTES int ec_ioctl_slave_eoe_ip_param(
void *arg /**< ioctl() argument. */
)
{
ec_ioctl_slave_eoe_ip_t io;
ec_ioctl_eoe_ip_t io;
ec_eoe_request_t req;
ec_slave_t *slave;
@@ -1664,7 +1732,7 @@ static ATTRIBUTES int ec_ioctl_slave_eoe_ip_param(
req.dns_included = io.dns_included;
req.name_included = io.name_included;
memcpy(req.mac_address, io.mac_address, ETH_ALEN);
memcpy(req.mac_address, io.mac_address, EC_ETH_ALEN);
req.ip_address = io.ip_address;
req.subnet_mask = io.subnet_mask;
req.gateway = io.gateway;
@@ -3264,6 +3332,70 @@ static ATTRIBUTES int ec_ioctl_sc_flag(
/****************************************************************************/
#ifdef EC_EOE
/** Configures EoE IP parameters.
*
* \return Zero on success, otherwise a negative error code.
*/
static ATTRIBUTES int ec_ioctl_sc_ip(
ec_master_t *master, /**< EtherCAT master. */
void *arg, /**< ioctl() argument. */
ec_ioctl_context_t *ctx /**< Private data structure of file handle. */
)
{
ec_ioctl_eoe_ip_t io;
ec_slave_config_t *sc;
uint8_t *key;
if (unlikely(!ctx->requested)) {
return -EPERM;
}
if (copy_from_user(&io, (void __user *) arg, sizeof(io))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem)) {
kfree(key);
return -EINTR;
}
if (!(sc = ec_master_get_config(master, io.config_index))) {
up(&master->master_sem);
kfree(key);
return -ENOENT;
}
up(&master->master_sem); /** \todo sc could be invalidated */
/* the kernel versions of the EoE set IP methods never fail. */
if (io.mac_address_included) {
ecrt_slave_config_eoe_mac_address(sc, io.mac_address);
}
if (io.ip_address_included) {
ecrt_slave_config_eoe_ip_address(sc, io.ip_address);
}
if (io.subnet_mask_included) {
ecrt_slave_config_eoe_subnet_mask(sc, io.subnet_mask);
}
if (io.gateway_included) {
ecrt_slave_config_eoe_default_gateway(sc, io.gateway);
}
if (io.dns_included) {
ecrt_slave_config_eoe_dns_address(sc, io.dns);
}
if (io.name_included) {
ecrt_slave_config_eoe_hostname(sc, io.name);
}
return 0;
}
#endif
/****************************************************************************/
/** Gets the domain's data size.
*
* \return Domain size, or a negative error code.
@@ -5190,6 +5322,9 @@ static long ec_ioctl_nrt
ret = ec_ioctl_config_flag(master, arg);
break;
#ifdef EC_EOE
case EC_IOCTL_CONFIG_EOE_IP_PARAM:
ret = ec_ioctl_config_ip(master, arg);
break;
case EC_IOCTL_EOE_HANDLER:
ret = ec_ioctl_eoe_handler(master, arg);
break;
@@ -5358,6 +5493,15 @@ static long ec_ioctl_nrt
}
ret = ec_ioctl_sc_flag(master, arg, ctx);
break;
#ifdef EC_EOE
case EC_IOCTL_SC_EOE_IP_PARAM:
if (!ctx->writable) {
ret = -EPERM;
break;
}
ret = ec_ioctl_sc_ip(master, arg, ctx);
break;
#endif
case EC_IOCTL_DOMAIN_SIZE:
ret = ec_ioctl_domain_size(master, arg, ctx);
break;

159
master/ioctl.h
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2021 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master.
*
@@ -47,7 +47,7 @@
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 35
#define EC_IOCTL_VERSION_MAGIC 36
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -75,7 +75,7 @@
#define EC_IOCTL_SLAVE_SOE_READ EC_IOWR(0x16, ec_ioctl_slave_soe_read_t)
#define EC_IOCTL_SLAVE_SOE_WRITE EC_IOWR(0x17, ec_ioctl_slave_soe_write_t)
#ifdef EC_EOE
#define EC_IOCTL_SLAVE_EOE_IP_PARAM EC_IOW(0x18, ec_ioctl_slave_eoe_ip_t)
#define EC_IOCTL_SLAVE_EOE_IP_PARAM EC_IOW(0x18, ec_ioctl_eoe_ip_t)
#endif
#define EC_IOCTL_CONFIG EC_IOWR(0x19, ec_ioctl_config_t)
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x1a, ec_ioctl_config_pdo_t)
@@ -84,78 +84,82 @@
#define EC_IOCTL_CONFIG_IDN EC_IOWR(0x1d, ec_ioctl_config_idn_t)
#define EC_IOCTL_CONFIG_FLAG EC_IOWR(0x1e, ec_ioctl_config_flag_t)
#ifdef EC_EOE
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1f, ec_ioctl_eoe_handler_t)
#define EC_IOCTL_CONFIG_EOE_IP_PARAM EC_IOWR(0x1f, ec_ioctl_eoe_ip_t)
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x20, ec_ioctl_eoe_handler_t)
#endif
// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x20)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x21)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x22, ec_ioctl_config_t)
#define EC_IOCTL_SELECT_REF_CLOCK EC_IOW(0x23, uint32_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x24, ec_ioctl_master_activate_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x25)
#define EC_IOCTL_SEND EC_IO(0x26)
#define EC_IOCTL_RECEIVE EC_IO(0x27)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x28, ec_master_state_t)
#define EC_IOCTL_MASTER_LINK_STATE EC_IOWR(0x29, ec_ioctl_link_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x2a, uint64_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x2b)
#define EC_IOCTL_SYNC_REF_TO EC_IOW(0x2c, uint64_t)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x2d)
#define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2e, uint32_t)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x2f)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x30, uint32_t)
#define EC_IOCTL_RESET EC_IO(0x31)
#define EC_IOCTL_SC_SYNC EC_IOW(0x32, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x33, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x34, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x35, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x36, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x37, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x38, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x39, ec_ioctl_reg_pdo_pos_t)
#define EC_IOCTL_SC_DC EC_IOW(0x3a, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x3b, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x3c, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3d, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3e, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x3f, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x40, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_SOE_REQUEST EC_IOWR(0x41, ec_ioctl_soe_request_t)
#define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x42, ec_ioctl_reg_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x44, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x45, ec_ioctl_sc_idn_t)
#define EC_IOCTL_SC_FLAG EC_IOW(0x46, ec_ioctl_sc_flag_t)
#define EC_IOCTL_DOMAIN_SIZE EC_IO(0x47)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x48)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x49)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x4a)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x4b, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_INDEX EC_IOWR(0x4c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x4d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x4e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x4f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x50, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x51, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SOE_REQUEST_IDN EC_IOWR(0x52, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_TIMEOUT EC_IOWR(0x53, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_STATE EC_IOWR(0x54, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_READ EC_IOWR(0x55, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_WRITE EC_IOWR(0x56, ec_ioctl_soe_request_t)
#define EC_IOCTL_SOE_REQUEST_DATA EC_IOWR(0x57, ec_ioctl_soe_request_t)
#define EC_IOCTL_REG_REQUEST_DATA EC_IOWR(0x58, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_STATE EC_IOWR(0x59, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_WRITE EC_IOWR(0x5a, ec_ioctl_reg_request_t)
#define EC_IOCTL_REG_REQUEST_READ EC_IOWR(0x5b, ec_ioctl_reg_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x5c, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x5d, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x5e, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x5f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x60, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x61, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x62, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x63, size_t)
#define EC_IOCTL_REQUEST EC_IO(0x21)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x22)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x23, ec_ioctl_config_t)
#define EC_IOCTL_SELECT_REF_CLOCK EC_IOW(0x24, uint32_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x25, ec_ioctl_master_activate_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x26)
#define EC_IOCTL_SEND EC_IO(0x27)
#define EC_IOCTL_RECEIVE EC_IO(0x28)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x29, ec_master_state_t)
#define EC_IOCTL_MASTER_LINK_STATE EC_IOWR(0x2a, ec_ioctl_link_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x2b, uint64_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x2c)
#define EC_IOCTL_SYNC_REF_TO EC_IOW(0x2d, uint64_t)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x2e)
#define EC_IOCTL_REF_CLOCK_TIME EC_IOR(0x2f, uint32_t)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x30)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x31, uint32_t)
#define EC_IOCTL_RESET EC_IO(0x32)
#define EC_IOCTL_SC_SYNC EC_IOW(0x33, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x34, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x35, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x36, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x37, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x38, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x39, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_REG_PDO_POS EC_IOWR(0x3a, ec_ioctl_reg_pdo_pos_t)
#define EC_IOCTL_SC_DC EC_IOW(0x3b, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x3c, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_EMERG_SIZE EC_IOW(0x3d, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_POP EC_IOWR(0x3e, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_CLEAR EC_IOW(0x3f, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_EMERG_OVERRUNS EC_IOWR(0x40, ec_ioctl_sc_emerg_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x41, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_SOE_REQUEST EC_IOWR(0x42, ec_ioctl_soe_request_t)
#define EC_IOCTL_SC_REG_REQUEST EC_IOWR(0x43, ec_ioctl_reg_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x45, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x46, ec_ioctl_sc_idn_t)
#define EC_IOCTL_SC_FLAG EC_IOW(0x47, ec_ioctl_sc_flag_t)
#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)
/****************************************************************************/
@@ -621,6 +625,7 @@ typedef struct {
typedef struct {
// input
uint16_t slave_position;
uint16_t config_index; // alternatively
uint8_t mac_address_included;
uint8_t ip_address_included;
@@ -630,15 +635,15 @@ typedef struct {
uint8_t name_included;
unsigned char mac_address[EC_ETH_ALEN];
uint32_t ip_address;
uint32_t subnet_mask;
uint32_t gateway;
uint32_t dns;
struct in_addr ip_address;
struct in_addr subnet_mask;
struct in_addr gateway;
struct in_addr dns;
char name[EC_MAX_HOSTNAME_SIZE];
// output
uint16_t result;
} ec_ioctl_slave_eoe_ip_t;
} ec_ioctl_eoe_ip_t;
/*****************************************************************************/

89
master/slave_config.c
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2023 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -28,15 +28,20 @@
/****************************************************************************/
#include <linux/module.h>
#include <linux/slab.h>
#include "slave_config.h"
#include "globals.h"
#include "master.h"
#include "voe_handler.h"
#include "flag.h"
#include "ioctl.h"
#include "slave_config.h"
#ifdef EC_EOE
#include "eoe_request.h"
#endif
#include <linux/module.h>
#include <linux/slab.h>
/****************************************************************************/
@@ -85,6 +90,10 @@ void ec_slave_config_init(
INIT_LIST_HEAD(&sc->soe_configs);
INIT_LIST_HEAD(&sc->flags);
#ifdef EC_EOE
ec_eoe_request_init(&sc->eoe_ip_param_request);
#endif
ec_coe_emerg_ring_init(&sc->emerg_ring, sc);
}
@@ -1431,6 +1440,70 @@ int ecrt_slave_config_flag(ec_slave_config_t *sc, const char *key,
/****************************************************************************/
#ifdef EC_EOE
int ecrt_slave_config_eoe_mac_address(ec_slave_config_t *sc,
const unsigned char *mac_address)
{
memcpy(sc->eoe_ip_param_request.mac_address, mac_address, EC_ETH_ALEN);
sc->eoe_ip_param_request.mac_address_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_ip_address(ec_slave_config_t *sc,
struct in_addr ip_address)
{
sc->eoe_ip_param_request.ip_address = ip_address;
sc->eoe_ip_param_request.ip_address_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_subnet_mask(ec_slave_config_t *sc,
struct in_addr subnet_mask)
{
sc->eoe_ip_param_request.subnet_mask = subnet_mask;
sc->eoe_ip_param_request.subnet_mask_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_default_gateway(ec_slave_config_t *sc,
struct in_addr gateway_address)
{
sc->eoe_ip_param_request.gateway = gateway_address;
sc->eoe_ip_param_request.gateway_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_dns_address(ec_slave_config_t *sc,
struct in_addr dns_address)
{
sc->eoe_ip_param_request.dns = dns_address;
sc->eoe_ip_param_request.dns_included = 1;
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_hostname(ec_slave_config_t *sc,
const char *name)
{
strncpy(sc->eoe_ip_param_request.name, name, EC_MAX_HOSTNAME_SIZE - 1);
sc->eoe_ip_param_request.name_included = 1;
return 0;
}
#endif
/****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
@@ -1459,6 +1532,14 @@ EXPORT_SYMBOL(ecrt_slave_config_create_reg_request);
EXPORT_SYMBOL(ecrt_slave_config_state);
EXPORT_SYMBOL(ecrt_slave_config_idn);
EXPORT_SYMBOL(ecrt_slave_config_flag);
#ifdef EOE
EXPORT_SYMBOL(ecrt_slave_config_eoe_mac_address);
EXPORT_SYMBOL(ecrt_slave_config_eoe_ip_address);
EXPORT_SYMBOL(ecrt_slave_config_eoe_subnet_mask);
EXPORT_SYMBOL(ecrt_slave_config_eoe_default_gateway);
EXPORT_SYMBOL(ecrt_slave_config_eoe_dns_address);
EXPORT_SYMBOL(ecrt_slave_config_eoe_hostname);
#endif
/** \endcond */

6
master/slave_config.h
View File

@@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2023 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@@ -141,6 +141,10 @@ struct ec_slave_config {
struct list_head soe_configs; /**< List of SoE configurations. */
struct list_head flags; /**< List of feature flags. */
#ifdef EC_EOE
ec_eoe_request_t eoe_ip_param_request; /**< EoE IP parameters. */
#endif
ec_coe_emerg_ring_t emerg_ring; /**< CoE emergency ring buffer. */
};