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ethercat
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Added ecrt_master_reset() method.

This commit is contained in:
Florian Pose 2010-11-30 15:24:21 +01:00
parent 379ab87b98
commit 6929f2f718
5 changed files with 91 additions and 32 deletions
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12
include/ecrt.h
View File

@ -78,6 +78,7 @@
* - Added ecrt_slave_config_idn() method for storing SoE IDN configurations,
* and ecrt_master_read_idn() and ecrt_master_write_idn() to read/write IDNs
* ad-hoc via the user-space library.
* - Added ecrt_master_reset() to initiate retrying to configure slaves.
*
* @{
*/
@ -859,6 +860,17 @@ uint32_t ecrt_master_sync_monitor_process(
ec_master_t *master /**< EtherCAT master. */
);
/** Retry configuring slaves.
*
* Via this method, the application can tell the master to bring all slaves to
* OP state. In general, this is not necessary, because it is automatically
* done by the master. But with special slaves, that can be reconfigured by
* the vendor during runtime, it can be useful.
*/
void ecrt_master_reset(
ec_master_t *master /**< EtherCAT master. */
);
/******************************************************************************
* Slave configuration methods
*****************************************************************************/

9
lib/master.c
View File

@ -572,3 +572,12 @@ uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
}
/*****************************************************************************/
void ecrt_master_reset(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_RESET, NULL) == -1) {
fprintf(stderr, "Failed to reset master: %s\n", strerror(errno));
}
}
/*****************************************************************************/

23
master/cdev.c
View File

@ -1992,6 +1992,25 @@ int ec_cdev_ioctl_sync_mon_process(
/*****************************************************************************/
/** Reset configuration.
*/
int ec_cdev_ioctl_reset(
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;
down(&master->master_sem);
ecrt_master_reset(master);
up(&master->master_sem);
return 0;
}
/*****************************************************************************/
/** Configure a sync manager.
*/
int ec_cdev_ioctl_sc_sync(
@ -3671,6 +3690,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sync_mon_process(master, arg, priv);
case EC_IOCTL_RESET:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_reset(master, arg, priv);
case EC_IOCTL_SC_SYNC:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;

65
master/ioctl.h
View File

@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 10
#define EC_IOCTL_VERSION_MAGIC 11
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@ -95,7 +95,7 @@
// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x1e)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x10, ec_ioctl_config_t)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x20, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x21, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x22)
#define EC_IOCTL_SEND EC_IO(0x23)
@ -106,36 +106,37 @@
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x28)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x29)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2a, uint32_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x2b, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2c, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2d, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2e, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2f, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x20, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x21, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x32, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x33, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x34, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x35, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x36, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x37, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x38)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x39)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3a)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3b, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x30, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x46, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x47, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x48, size_t)
#define EC_IOCTL_RESET EC_IO(0x2b)
#define EC_IOCTL_SC_SYNC EC_IOW(0x2c, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2d, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2e, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2f, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x30, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x31, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x32, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x33, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x34, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x35, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x36, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x37, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x38, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x39)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x3a)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3b)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3c, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x40, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x41, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x46, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x47, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x48, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x49, size_t)
/*****************************************************************************/

14
master/master.c
View File

@ -2501,6 +2501,19 @@ int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
/*****************************************************************************/
void ecrt_master_reset(ec_master_t *master)
{
ec_slave_config_t *sc;
list_for_each_entry(sc, &master->configs, list) {
if (sc->slave) {
ec_slave_request_state(sc->slave, EC_SLAVE_STATE_OP);
}
}
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
@ -2521,6 +2534,7 @@ EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
EXPORT_SYMBOL(ecrt_master_write_idn);
EXPORT_SYMBOL(ecrt_master_read_idn);
EXPORT_SYMBOL(ecrt_master_reset);
/** \endcond */