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ethercat
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Implemented ecrt_master_deactivate() in userspace.

This commit is contained in:
Florian Pose 2009-08-20 14:43:55 +02:00
parent 103eb7139c
commit 1ccd59402e
4 changed files with 66 additions and 35 deletions
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1
TODO
View File

@ -52,7 +52,6 @@ Version 1.5.0:
* Implement CompleteAccess for SDO uploads.
* Implement identifier parameter for cstruct command.
* Implement sync delimiter for cstruct command.
* Implement ecrt_master_deactivate() in userspace.
Future issues:

10
lib/master.c
View File

@ -335,6 +335,16 @@ int ecrt_master_activate(ec_master_t *master)
/*****************************************************************************/
void ecrt_master_deactivate(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_DEACTIVATE, NULL) == -1) {
fprintf(stderr, "Failed to deactivate master: %s\n", strerror(errno));
return;
}
}
/*****************************************************************************/
void ecrt_master_send(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {

21
master/cdev.c
View File

@ -1648,6 +1648,23 @@ int ec_cdev_ioctl_activate(
/*****************************************************************************/
/** Deactivates the master.
*/
int ec_cdev_ioctl_deactivate(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
if (unlikely(!priv->requested))
return -EPERM;
ecrt_master_deactivate(master);
return 0;
}
/*****************************************************************************/
/** Send frames.
*/
int ec_cdev_ioctl_send(
@ -3263,6 +3280,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_activate(master, arg, priv);
case EC_IOCTL_DEACTIVATE:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_deactivate(master, arg, priv);
case EC_IOCTL_SEND:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;

69
master/ioctl.h
View File

@ -86,40 +86,41 @@
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1a)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1b, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x1c, size_t)
#define EC_IOCTL_SEND EC_IO(0x1d)
#define EC_IOCTL_RECEIVE EC_IO(0x1e)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x1f, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x20, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x21)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x22)
#define EC_IOCTL_SC_SYNC EC_IOW(0x23, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x24, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x25, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x26, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x27, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x28, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x29, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x2a, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x2b, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x2d, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x2e, ec_ioctl_sc_state_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x2f)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x20)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x31)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x32, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x33, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x34, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x35, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x36, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x37, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x38, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x39, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x3a, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3b, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3c, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3d, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x3e, ec_ioctl_voe_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x1d)
#define EC_IOCTL_SEND EC_IO(0x1e)
#define EC_IOCTL_RECEIVE EC_IO(0x1f)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x20, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x21, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x22)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x23)
#define EC_IOCTL_SC_SYNC EC_IOW(0x24, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x25, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x26, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x27, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x28, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x29, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x2a, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x2b, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x2c, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x2d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x2e, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x2f, ec_ioctl_sc_state_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x20)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x31)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x32)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x33, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x34, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x35, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x36, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x37, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x38, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x39, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3a, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x3b, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x3c, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x3d, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x3e, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x3f, ec_ioctl_voe_t)
/*****************************************************************************/