bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Set IP parameter methods on user and kernel side.

This commit is contained in:
Florian Pose 2024-02-05 15:24:24 +01:00
parent 81e89154ae
commit 25bf7ef885
11 changed files with 546 additions and 113 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
lib/libethercat.map
View File

@ -104,4 +104,10 @@ LIBETHERCAT_1.5.3 {
LIBETHERCAT_1.6 {
global:
ecrt_master_scan_progress;
ecrt_slave_config_eoe_link;
ecrt_slave_config_eoe_addr;
ecrt_slave_config_eoe_subnet;
ecrt_slave_config_eoe_default;
ecrt_slave_config_eoe_dns;
ecrt_slave_config_eoe_name;
} LIBETHERCAT_1.5.3;

131
lib/slave_config.c
View File

@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2019 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
@ -889,3 +889,132 @@ int ecrt_slave_config_flag(ec_slave_config_t *sc, const char *key,
}
/****************************************************************************/
int ecrt_slave_config_eoe_link(ec_slave_config_t *sc,
const unsigned char *mac_address)
{
ec_ioctl_eoe_ip_t io = {};
int ret;
io.config_index = sc->index;
memcpy(io.mac_address, mac_address, EC_ETH_ALEN);
io.mac_address_included = 1;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_EOE_IP_PARAM, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to configure EoE MAC address: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_addr(ec_slave_config_t *sc, uint32_t ip_address)
{
ec_ioctl_eoe_ip_t io = {};
int ret;
io.config_index = sc->index;
io.ip_address = ip_address;
io.ip_address_included = 1;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_EOE_IP_PARAM, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to configure EoE IP address: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_subnet(ec_slave_config_t *sc, uint32_t subnet_mask)
{
ec_ioctl_eoe_ip_t io = {};
int ret;
io.config_index = sc->index;
io.subnet_mask = subnet_mask;
io.subnet_mask_included = 1;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_EOE_IP_PARAM, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to configure EoE subnet mask: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_default(ec_slave_config_t *sc,
uint32_t gateway_address)
{
ec_ioctl_eoe_ip_t io = {};
int ret;
io.config_index = sc->index;
io.gateway = gateway_address;
io.gateway_included = 1;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_EOE_IP_PARAM, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to configure EoE default gateway: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_dns(ec_slave_config_t *sc, uint32_t dns_address)
{
ec_ioctl_eoe_ip_t io = {};
int ret;
io.config_index = sc->index;
io.dns = dns_address;
io.dns_included = 1;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_EOE_IP_PARAM, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to configure EoE DNS address: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/
int ecrt_slave_config_eoe_name(ec_slave_config_t *sc,
const unsigned char *name)
{
ec_ioctl_eoe_ip_t io = {};
int ret;
io.config_index = sc->index;
strncpy(io.name, (const char *) name, EC_MAX_HOSTNAME_SIZE - 1);
io.name_included = 1;
ret = ioctl(sc->master->fd, EC_IOCTL_SC_EOE_IP_PARAM, &io);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to configure EoE hostname: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return -EC_IOCTL_ERRNO(ret);
}
return 0;
}
/****************************************************************************/

145
master/ioctl.c
View File

@ -1578,6 +1578,74 @@ 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;
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;
}
const ec_eoe_request_t *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.
@ -1640,7 +1708,7 @@ 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;
@ -1658,7 +1726,7 @@ 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;
@ -3235,6 +3303,67 @@ static ATTRIBUTES int ec_ioctl_sc_flag(
/****************************************************************************/
/** 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;
int ret;
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_link(sc, io.mac_address);
}
if (io.ip_address_included) {
ecrt_slave_config_eoe_addr(sc, io.ip_address);
}
if (io.subnet_mask_included) {
ecrt_slave_config_eoe_subnet(sc, io.subnet_mask);
}
if (io.gateway_included) {
ecrt_slave_config_eoe_default(sc, io.gateway);
}
if (io.dns_included) {
ecrt_slave_config_eoe_dns(sc, io.dns);
}
if (io.name_included) {
ecrt_slave_config_eoe_name(sc, io.name);
}
return ret;
}
/****************************************************************************/
/** Gets the domain's data size.
*
* \return Domain size, or a negative error code.
@ -5137,6 +5266,9 @@ 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;
@ -5309,6 +5441,15 @@ 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;

151
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;
@ -638,7 +643,7 @@ typedef struct {
// output
uint16_t result;
} ec_ioctl_slave_eoe_ip_t;
} ec_ioctl_eoe_ip_t;
/*****************************************************************************/

80
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);
}
@ -1425,6 +1434,63 @@ int ecrt_slave_config_flag(ec_slave_config_t *sc, const char *key,
/****************************************************************************/
int ecrt_slave_config_eoe_link(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_addr(ec_slave_config_t *sc, uint32_t 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(ec_slave_config_t *sc, uint32_t 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(ec_slave_config_t *sc,
uint32_t 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(ec_slave_config_t *sc, uint32_t 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_name(ec_slave_config_t *sc,
const unsigned char *name)
{
strncpy(sc->eoe_ip_param_request.name, name, EC_MAX_HOSTNAME_SIZE);
sc->eoe_ip_param_request.name_included = 1;
return 0;
}
/****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_slave_config_sync_manager);
@ -1453,6 +1519,12 @@ 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);
EXPORT_SYMBOL(ecrt_slave_config_eoe_link);
EXPORT_SYMBOL(ecrt_slave_config_eoe_addr);
EXPORT_SYMBOL(ecrt_slave_config_eoe_subnet);
EXPORT_SYMBOL(ecrt_slave_config_eoe_default);
EXPORT_SYMBOL(ecrt_slave_config_eoe_dns);
EXPORT_SYMBOL(ecrt_slave_config_eoe_name);
/** \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. */
};

55
tool/CommandConfig.cpp
View File

@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@ -147,6 +147,7 @@ void CommandConfig::showDetailedConfigs(
ec_ioctl_config_sdo_t sdo;
ec_ioctl_config_idn_t idn;
ec_ioctl_config_flag_t flag;
ec_ioctl_eoe_ip_t ip;
string indent(doIndent ? " " : "");
for (configIter = configList.begin();
@ -299,6 +300,58 @@ void CommandConfig::showDetailedConfigs(
cout << indent << " None." << endl;
}
m.getIpParam(&ip, configIter->config_index);
if (ip.mac_address_included or ip.ip_address_included or
ip.subnet_mask_included or ip.gateway_included or
ip.dns_included or ip.name_included) {
cout << indent << "EoE IP parameters:" << endl;
if (ip.mac_address_included) {
cout << indent << " MAC address: "
<< hex << setfill('0') << setw(2)
<< ip.mac_address[0] << ":"
<< ip.mac_address[1] << ":"
<< ip.mac_address[2] << ":"
<< ip.mac_address[3] << ":"
<< ip.mac_address[4] << ":"
<< ip.mac_address[5] << dec << endl;
}
if (ip.ip_address_included) {
const uint8_t *addr = (const uint8_t *) &ip.ip_address;
cout << indent << " IP address: "
<< (unsigned int) addr[0] << "."
<< (unsigned int) addr[1] << "."
<< (unsigned int) addr[2] << "."
<< (unsigned int) addr[3] << endl;
}
if (ip.subnet_mask_included) {
const uint8_t *addr = (const uint8_t *) &ip.subnet_mask;
cout << indent << " Subnet mask: "
<< (unsigned int) addr[0] << "."
<< (unsigned int) addr[1] << "."
<< (unsigned int) addr[2] << "."
<< (unsigned int) addr[3] << endl;
}
if (ip.gateway_included) {
const uint8_t *addr = (const uint8_t *) &ip.gateway;
cout << indent << " Default gateway: "
<< (unsigned int) addr[0] << "."
<< (unsigned int) addr[1] << "."
<< (unsigned int) addr[2] << "."
<< (unsigned int) addr[3] << endl;
}
if (ip.dns_included) {
const uint8_t *addr = (const uint8_t *) &ip.dns;
cout << indent << " DNS server address: "
<< (unsigned int) addr[0] << "."
<< (unsigned int) addr[1] << "."
<< (unsigned int) addr[2] << "."
<< (unsigned int) addr[3] << endl;
}
if (ip.name_included) {
cout << indent << " Hostname:" << ip.name << endl;
}
}
if (configIter->dc_assign_activate) {
int i;

4
tool/CommandIp.cpp
View File

@ -88,7 +88,7 @@ void CommandIp::execute(const StringVector &args)
throwInvalidUsageException(err);
}
ec_ioctl_slave_eoe_ip_t io = {};
ec_ioctl_eoe_ip_t io = {};
for (unsigned int argIdx = 0; argIdx < args.size(); argIdx += 2) {
string arg = args[argIdx];
@ -182,7 +182,7 @@ void CommandIp::parseMac(unsigned char mac[EC_ETH_ALEN], const string &str)
/****************************************************************************/
void CommandIp::parseIpv4Prefix(ec_ioctl_slave_eoe_ip_t *io,
void CommandIp::parseIpv4Prefix(ec_ioctl_eoe_ip_t *io,
const string &str)
{
size_t pos = str.find('/');

3
tool/CommandIp.h
View File

@ -37,8 +37,7 @@ class CommandIp:
protected:
void parseMac(unsigned char [6], const string &);
void parseIpv4Prefix(ec_ioctl_slave_eoe_ip_t *,
const string &);
void parseIpv4Prefix(ec_ioctl_eoe_ip_t *, const string &);
void resolveIpv4(uint32_t *, const string &);
};

67
tool/MasterDevice.cpp
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.
*
@ -553,26 +553,6 @@ void MasterDevice::requestState(
/****************************************************************************/
#ifdef EC_EOE
void MasterDevice::getEoeHandler(
ec_ioctl_eoe_handler_t *eoe,
uint16_t eoeHandlerIndex
)
{
eoe->eoe_index = eoeHandlerIndex;
if (ioctl(fd, EC_IOCTL_EOE_HANDLER, eoe)) {
stringstream err;
err << "Failed to get EoE handler: " << strerror(errno);
throw MasterDeviceException(err);
}
}
#endif
/****************************************************************************/
void MasterDevice::readSoe(ec_ioctl_slave_soe_read_t *data)
{
if (ioctl(fd, EC_IOCTL_SLAVE_SOE_READ, data) < 0) {
@ -604,7 +584,49 @@ void MasterDevice::writeSoe(ec_ioctl_slave_soe_write_t *data)
/****************************************************************************/
#ifdef EC_EOE
void MasterDevice::setIpParam(ec_ioctl_slave_eoe_ip_t *data)
void MasterDevice::getEoeHandler(
ec_ioctl_eoe_handler_t *eoe,
uint16_t eoeHandlerIndex
)
{
eoe->eoe_index = eoeHandlerIndex;
if (ioctl(fd, EC_IOCTL_EOE_HANDLER, eoe)) {
stringstream err;
err << "Failed to get EoE handler: " << strerror(errno);
throw MasterDeviceException(err);
}
}
#endif
/****************************************************************************/
#ifdef EC_EOE
void MasterDevice::getIpParam(ec_ioctl_eoe_ip_t *data, uint16_t config_index)
{
data->config_index = config_index;
if (ioctl(fd, EC_IOCTL_CONFIG_EOE_IP_PARAM, data) < 0) {
if (errno == EIO && data->result) {
throw MasterDeviceEoeException(data->result);
} else {
stringstream err;
err << "Failed to set IP parameters: " << strerror(errno);
throw MasterDeviceException(err);
}
}
}
#endif
/****************************************************************************/
#ifdef EC_EOE
void MasterDevice::setIpParam(ec_ioctl_eoe_ip_t *data)
{
if (ioctl(fd, EC_IOCTL_SLAVE_EOE_IP_PARAM, data) < 0) {
if (errno == EIO && data->result) {
@ -616,6 +638,7 @@ void MasterDevice::setIpParam(ec_ioctl_slave_eoe_ip_t *data)
}
}
}
#endif
/****************************************************************************/

11
tool/MasterDevice.h
View File

@ -1,6 +1,6 @@
/*****************************************************************************
*
* Copyright (C) 2006-2009 Florian Pose, Ingenieurgemeinschaft IgH
* Copyright (C) 2006-2024 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
@ -152,12 +152,13 @@ class MasterDevice
void requestState(uint16_t, uint8_t);
void readFoe(ec_ioctl_slave_foe_t *);
void writeFoe(ec_ioctl_slave_foe_t *);
#ifdef EC_EOE
void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
#endif
void readSoe(ec_ioctl_slave_soe_read_t *);
void writeSoe(ec_ioctl_slave_soe_write_t *);
void setIpParam(ec_ioctl_slave_eoe_ip_t *);
#ifdef EC_EOE
void getEoeHandler(ec_ioctl_eoe_handler_t *, uint16_t);
void getIpParam(ec_ioctl_eoe_ip_t *, uint16_t);
void setIpParam(ec_ioctl_eoe_ip_t *);
#endif
unsigned int getMasterCount() const {return masterCount;}