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ethercat/lib/master.c

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/*****************************************************************************
*
* Copyright (C) 2006-2019 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 <unistd.h> /* close() */
#include <stdlib.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <sys/mman.h>
#include "ioctl.h"
#include "master.h"
#include "domain.h"
#include "slave_config.h"
/****************************************************************************/
int ecrt_master_reserve(ec_master_t *master)
{
int ret = ioctl(master->fd, EC_IOCTL_REQUEST, NULL);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to reserve master: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
void ec_master_clear_config(ec_master_t *master)
{
ec_domain_t *d, *next_d;
ec_slave_config_t *c, *next_c;
d = master->first_domain;
while (d) {
next_d = d->next;
ec_domain_clear(d);
free(d);
d = next_d;
}
master->first_domain = NULL;
c = master->first_config;
while (c) {
next_c = c->next;
ec_slave_config_clear(c);
free(c);
c = next_c;
}
master->first_config = NULL;
if (master->process_data) {
munmap(master->process_data, master->process_data_size);
master->process_data = NULL;
master->process_data_size = 0;
}
}
/****************************************************************************/
void ec_master_clear(ec_master_t *master)
{
ec_master_clear_config(master);
if (master->fd != -1) {
#if USE_RTDM
rt_dev_close(master->fd);
#else
close(master->fd);
#endif
master->fd = -1;
}
}
/****************************************************************************/
void ec_master_add_domain(ec_master_t *master, ec_domain_t *domain)
{
if (master->first_domain) {
ec_domain_t *d = master->first_domain;
while (d->next) {
d = d->next;
}
d->next = domain;
} else {
master->first_domain = domain;
}
}
/****************************************************************************/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master)
{
ec_domain_t *domain;
int index;
domain = malloc(sizeof(ec_domain_t));
if (!domain) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);
if (EC_IOCTL_IS_ERROR(index)) {
fprintf(stderr, "Failed to create domain: %s\n",
strerror(EC_IOCTL_ERRNO(index)));
free(domain);
return 0;
}
domain->next = NULL;
domain->index = (unsigned int) index;
domain->master = master;
domain->process_data = NULL;
ec_master_add_domain(master, domain);
return domain;
}
/****************************************************************************/
void ec_master_add_slave_config(ec_master_t *master, ec_slave_config_t *sc)
{
if (master->first_config) {
ec_slave_config_t *c = master->first_config;
while (c->next) {
c = c->next;
}
c->next = sc;
} else {
master->first_config = sc;
}
}
/****************************************************************************/
ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
uint16_t alias, uint16_t position, uint32_t vendor_id,
uint32_t product_code)
{
ec_ioctl_config_t data;
ec_slave_config_t *sc;
int ret;
sc = malloc(sizeof(ec_slave_config_t));
if (!sc) {
fprintf(stderr, "Failed to allocate memory.\n");
return 0;
}
data.alias = alias;
data.position = position;
data.vendor_id = vendor_id;
data.product_code = product_code;
ret = ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to create slave config: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
free(sc);
return 0;
}
sc->next = NULL;
sc->master = master;
sc->index = data.config_index;
sc->alias = alias;
sc->position = position;
sc->first_sdo_request = NULL;
sc->first_reg_request = NULL;
sc->first_voe_handler = NULL;
ec_master_add_slave_config(master, sc);
return sc;
}
/*****************************************************************************/
int ecrt_master_select_reference_clock(ec_master_t *master,
ec_slave_config_t *sc)
{
uint32_t config_index;
int ret;
if (sc) {
config_index = sc->index;
}
else {
config_index = 0xFFFFFFFF;
}
ret = ioctl(master->fd, EC_IOCTL_SELECT_REF_CLOCK, config_index);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to select reference clock: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
{
ec_ioctl_master_t data;
int ret;
ret = ioctl(master->fd, EC_IOCTL_MASTER, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get master info: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
master_info->slave_count = data.slave_count;
master_info->link_up = data.devices[0].link_state;
master_info->scan_busy = data.scan_busy;
master_info->app_time = data.app_time;
return 0;
}
/****************************************************************************/
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
ec_slave_info_t *slave_info)
{
ec_ioctl_slave_t data;
int ret, i;
data.position = slave_position;
ret = ioctl(master->fd, EC_IOCTL_SLAVE, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get slave info: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
slave_info->position = data.position;
slave_info->vendor_id = data.vendor_id;
slave_info->product_code = data.product_code;
slave_info->revision_number = data.revision_number;
slave_info->serial_number = data.serial_number;
slave_info->alias = data.alias;
slave_info->current_on_ebus = data.current_on_ebus;
for (i = 0; i < EC_MAX_PORTS; i++) {
slave_info->ports[i].desc = data.ports[i].desc;
slave_info->ports[i].link.link_up = data.ports[i].link.link_up;
slave_info->ports[i].link.loop_closed =
data.ports[i].link.loop_closed;
slave_info->ports[i].link.signal_detected =
data.ports[i].link.signal_detected;
slave_info->ports[i].receive_time = data.ports[i].receive_time;
slave_info->ports[i].next_slave = data.ports[i].next_slave;
slave_info->ports[i].delay_to_next_dc =
data.ports[i].delay_to_next_dc;
}
slave_info->al_state = data.al_state;
slave_info->error_flag = data.error_flag;
slave_info->sync_count = data.sync_count;
slave_info->sdo_count = data.sdo_count;
strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
return 0;
}
/****************************************************************************/
int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, ec_sync_info_t *sync)
{
ec_ioctl_slave_sync_t data;
int ret;
if (sync_index >= EC_MAX_SYNC_MANAGERS) {
return -ENOENT;
}
memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
data.slave_position = slave_position;
data.sync_index = sync_index;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get sync manager information: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
sync->index = sync_index;
sync->dir = EC_READ_BIT(&data.control_register, 2) ?
EC_DIR_OUTPUT : EC_DIR_INPUT;
sync->n_pdos = data.pdo_count;
sync->pdos = NULL;
sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?
EC_WD_ENABLE : EC_WD_DISABLE;
return 0;
}
/****************************************************************************/
int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
{
ec_ioctl_slave_sync_pdo_t data;
int ret;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
data.slave_position = slave_position;
data.sync_index = sync_index;
data.pdo_pos = pos;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get pdo information: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
pdo->index = data.index;
pdo->n_entries = data.entry_count;
pdo->entries = NULL;
return 0;
}
/****************************************************************************/
int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
ec_pdo_entry_info_t *entry)
{
ec_ioctl_slave_sync_pdo_entry_t data;
int ret;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
data.slave_position = slave_position;
data.sync_index = sync_index;
data.pdo_pos = pdo_pos;
data.entry_pos = entry_pos;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get pdo entry information: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
entry->index = data.index;
entry->subindex = data.subindex;
entry->bit_length = data.bit_length;
return 0;
}
/****************************************************************************/
int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
uint16_t index, uint8_t subindex, uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
ec_ioctl_slave_sdo_download_t download;
int ret;
download.slave_position = slave_position;
download.sdo_index = index;
download.sdo_entry_subindex = subindex;
download.complete_access = 0;
download.data_size = data_size;
download.data = data;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
if (EC_IOCTL_IS_ERROR(ret)) {
if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
*abort_code = download.abort_code;
}
fprintf(stderr, "Failed to execute SDO download: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_master_sdo_download_complete(ec_master_t *master,
uint16_t slave_position, uint16_t index, uint8_t *data,
size_t data_size, uint32_t *abort_code)
{
ec_ioctl_slave_sdo_download_t download;
int ret;
download.slave_position = slave_position;
download.sdo_index = index;
download.sdo_entry_subindex = 0;
download.complete_access = 1;
download.data_size = data_size;
download.data = data;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download);
if (EC_IOCTL_IS_ERROR(ret)) {
if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
*abort_code = download.abort_code;
}
fprintf(stderr, "Failed to execute SDO download: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
uint16_t index, uint8_t subindex, uint8_t *target,
size_t target_size, size_t *result_size, uint32_t *abort_code)
{
ec_ioctl_slave_sdo_upload_t upload;
int ret;
upload.slave_position = slave_position;
upload.sdo_index = index;
upload.sdo_entry_subindex = subindex;
upload.target_size = target_size;
upload.target = target;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload);
if (EC_IOCTL_IS_ERROR(ret)) {
if (EC_IOCTL_ERRNO(ret) == EIO && abort_code) {
*abort_code = upload.abort_code;
}
fprintf(stderr, "Failed to execute SDO upload: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
*result_size = upload.data_size;
return 0;
}
/****************************************************************************/
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
uint16_t *error_code)
{
ec_ioctl_slave_soe_write_t io;
int ret;
io.slave_position = slave_position;
io.drive_no = drive_no;
io.idn = idn;
io.data_size = data_size;
io.data = data;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_WRITE, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
*error_code = io.error_code;
}
fprintf(stderr, "Failed to write IDN: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
size_t *result_size, uint16_t *error_code)
{
ec_ioctl_slave_soe_read_t io;
int ret;
io.slave_position = slave_position;
io.drive_no = drive_no;
io.idn = idn;
io.mem_size = target_size;
io.data = target;
ret = ioctl(master->fd, EC_IOCTL_SLAVE_SOE_READ, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
if (EC_IOCTL_ERRNO(ret) == EIO && error_code) {
*error_code = io.error_code;
}
fprintf(stderr, "Failed to read IDN: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
*result_size = io.data_size;
return 0;
}
/****************************************************************************/
int ecrt_master_activate(ec_master_t *master)
{
ec_ioctl_master_activate_t io;
int ret;
ret = ioctl(master->fd, EC_IOCTL_ACTIVATE, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to activate master: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
master->process_data_size = io.process_data_size;
if (master->process_data_size) {
#ifdef USE_RTDM
/* memory-mapping was already done in kernel. The user-space addess is
* provided in the ioctl data.
*/
master->process_data = io.process_data;
#else
master->process_data = mmap(0, master->process_data_size,
PROT_READ | PROT_WRITE, MAP_SHARED, master->fd, 0);
if (master->process_data == MAP_FAILED) {
fprintf(stderr, "Failed to map process data: %s\n",
strerror(errno));
master->process_data = NULL;
master->process_data_size = 0;
return -errno;
}
#endif
// Access the mapped region to cause the initial page fault
master->process_data[0] = 0x00;
}
return 0;
}
/****************************************************************************/
void ecrt_master_deactivate(ec_master_t *master)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to deactivate master: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return;
}
ec_master_clear_config(master);
}
/****************************************************************************/
int ecrt_master_set_send_interval(ec_master_t *master,
size_t send_interval_us)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_SET_SEND_INTERVAL, &send_interval_us);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to set send interval: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
void ecrt_master_send(ec_master_t *master)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_SEND, NULL);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to send: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/****************************************************************************/
void ecrt_master_receive(ec_master_t *master)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_RECEIVE, NULL);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to receive: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/****************************************************************************/
void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_MASTER_STATE, state);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get master state: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/****************************************************************************/
int ecrt_master_link_state(const ec_master_t *master, unsigned int dev_idx,
ec_master_link_state_t *state)
{
ec_ioctl_link_state_t io;
int ret;
io.dev_idx = dev_idx;
io.state = state;
ret = ioctl(master->fd, EC_IOCTL_MASTER_LINK_STATE, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get link state: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
{
uint64_t time;
int ret;
time = app_time;
ret = ioctl(master->fd, EC_IOCTL_APP_TIME, &time);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to set application time: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/****************************************************************************/
void ecrt_master_sync_reference_clock(ec_master_t *master)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_SYNC_REF, NULL);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to sync reference clock: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/****************************************************************************/
void ecrt_master_sync_reference_clock_to(ec_master_t *master,
uint64_t sync_time)
{
uint64_t time;
int ret;
time = sync_time;
ret = ioctl(master->fd, EC_IOCTL_SYNC_REF_TO, &time);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to sync reference clock: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/****************************************************************************/
void ecrt_master_sync_slave_clocks(ec_master_t *master)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_SYNC_SLAVES, NULL);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to sync slave clocks: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
int ecrt_master_reference_clock_time(ec_master_t *master, uint32_t *time)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_REF_CLOCK_TIME, time);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get reference clock time: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
return ret;
}
/****************************************************************************/
void ecrt_master_sync_monitor_queue(ec_master_t *master)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_QUEUE, NULL);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to queue sync monitor datagram: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/****************************************************************************/
uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
{
uint32_t time_diff;
int ret;
ret = ioctl(master->fd, EC_IOCTL_SYNC_MON_PROCESS, &time_diff);
if (EC_IOCTL_IS_ERROR(ret)) {
time_diff = 0xffffffff;
fprintf(stderr, "Failed to process sync monitor datagram: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
return time_diff;
}
/****************************************************************************/
void ecrt_master_reset(ec_master_t *master)
{
int ret;
ret = ioctl(master->fd, EC_IOCTL_RESET, NULL);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to reset master: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/****************************************************************************/
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