added API ecrt_master_configured_slaves_state

use this function instead of ecrt_master_state() if there are unused slaves on the bus

include/ecrt.h

@@ -748,6 +748,18 @@ void ecrt_master_state(
         ec_master_state_t *state /**< Structure to store the information. */
         );
 
+/** Reads the current master state and the al_state of all configured slaves.
+ *
+ * use this function instead of ecrt_master_state if there are unused
+ * slaves on the bus
+ * Stores the master state information in the given \a state structure.
+ * \see ecrt_master_state()
+ */
+void ecrt_master_configured_slaves_state(
+        const ec_master_t *master, /**< EtherCAT master. */
+        ec_master_state_t *state /**< Structure to store the information. */
+        );
+
 /** Sets the application time.
  *
  * The master has to know the application's time when operating slaves with

lib/master.c

@@ -388,6 +388,16 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
 
 /*****************************************************************************/
 
+void ecrt_master_configured_slaves_state(const ec_master_t *master,
+                                         ec_master_state_t *state)
+{
+    if (ioctl(master->fd, EC_IOCTL_MASTER_SC_STATE, state) == -1) {
+        fprintf(stderr, "Failed to get master state: %s\n", strerror(errno));
+    }
+}
+
+/*****************************************************************************/
+
 void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
 {
     ec_ioctl_app_time_t data;

master/cdev.c

@@ -1811,6 +1811,29 @@ int ec_cdev_ioctl_master_state(
 
 /*****************************************************************************/
 
+/** Get the master state of all configured slaves.
+ */
+int ec_cdev_ioctl_master_sc_state(
+        ec_master_t *master, /**< EtherCAT master. */
+        unsigned long arg, /**< ioctl() argument. */
+        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+        )
+{
+    ec_master_state_t data;
+
+    if (unlikely(!priv->requested))
+        return -EPERM;
+
+    ecrt_master_configured_slaves_state(master, &data);
+
+    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+        return -EFAULT;
+
+    return 0;
+}
+
+/*****************************************************************************/
+
 /** Get the master state.
  */
 int ec_cdev_ioctl_app_time(
@@ -3672,6 +3695,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
             return ec_cdev_ioctl_receive(master, arg, priv);
         case EC_IOCTL_MASTER_STATE:
             return ec_cdev_ioctl_master_state(master, arg, priv);
+        case EC_IOCTL_MASTER_SC_STATE:
+            return ec_cdev_ioctl_master_sc_state(master, arg, priv);
         case EC_IOCTL_APP_TIME:
             if (!(filp->f_mode & FMODE_WRITE))
                 return -EPERM;

master/ioctl.h

@@ -134,6 +134,7 @@
 #define EC_IOCTL_VOE_EXEC             EC_IOWR(0x44, ec_ioctl_voe_t)
 #define EC_IOCTL_VOE_DATA             EC_IOWR(0x45, ec_ioctl_voe_t)
 #define EC_IOCTL_SET_SEND_INTERVAL     EC_IOW(0x46, size_t)
+#define EC_IOCTL_MASTER_SC_STATE        EC_IOR(0x47, ec_master_state_t)
 
 /*****************************************************************************/
 

master/master.c

@@ -2296,6 +2296,25 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
 
 /*****************************************************************************/
 
+void ecrt_master_configured_slaves_state(const ec_master_t *master, ec_master_state_t *state)
+{
+    const ec_slave_config_t *sc;
+    ec_slave_config_state_t sc_state;
+
+    // collect al_states of all configured online slaves
+    state->al_states = 0;
+    list_for_each_entry(sc, &master->configs, list) {
+        ecrt_slave_config_state(sc,&sc_state);
+        if (sc_state.online)
+            state->al_states |= sc_state.al_state;
+    }
+
+    state->slaves_responding = master->fsm.slaves_responding;
+    state->link_up = master->main_device.link_state;
+}
+
+/*****************************************************************************/
+
 void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
 {
     master->app_time = app_time;