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ethercat
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Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download(). Thanks to 

S. Weiser.
This commit is contained in:
Florian Pose 2009-05-05 08:15:02 +00:00
parent 54a04f7841
commit 779c653142
3 changed files with 110 additions and 0 deletions
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3
NEWS
View File

@ -36,6 +36,9 @@ Changes since 1.4.0:
* Output device link state in 'ethercat master'.
* Added 'ethercat graph' command which outputs the bus topology in
DOT language.
* Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download() methods to let
an application transfer SDOs before activating the master. Thanks to Stefan
Weiser.
Changes in 1.4.0:

50
include/ecrt.h
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@ -55,6 +55,8 @@
* - Renamed ec_sdo_request_state_t to ec_request_state_t, because it is also
* used by VoE handlers.
* - Added ecrt_master_slave() to get information about a certain slave.
* - Added ecrt_slave_sdo_upload() and ecrt_slave_sdo_download() methods to
* let an application transfer SDOs before activating the master.
* - Removed 'const' from argument of ecrt_sdo_request_state(), because the
* userspace library has to modify object internals.
* - Added 64-bit data access macros.
@ -448,6 +450,8 @@ ec_slave_config_t *ecrt_master_slave_config(
uint32_t product_code /**< Expected product code. */
);
#ifndef __KERNEL__
/** Obtains slave information.
*
* Tries to find the slave with the given ring position. The obtained
@ -465,6 +469,8 @@ int ecrt_master_slave(
information */
);
#endif /* ifndef __KERNEL__ */
/** Finishes the configuration phase and prepares for cyclic operation.
*
* This function tells the master that the configuration phase is finished and
@ -551,6 +557,50 @@ void ecrt_master_sync_slave_clocks(
ec_master_t *master /**< EtherCAT master. */
);
#ifndef __KERNEL__
/** Executes an SDO write request to download data.
*
* This function operates aside of the normal way to request SDOs. Before the
* activation of the master, these requests are processed by the master state
* machine itself. After activation the user has to ensure cyclic processing.
*
* \retval 0 Success.
* \retval -1 An error occured.
*/
int ecrt_slave_sdo_download(
ec_master_t* master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint16_t index, /**< Index of the SDO. */
uint8_t subindex, /**< Subindex of the SDO. */
uint8_t *data, /**< Data buffer to download. */
size_t data_size, /**< Size of the data buffer. */
uint32_t *abort_code /**< Abort code of the SDO download. */
);
/** Executes a SDO read request to upload data.
*
* This function operates aside of the normal way to request SDOs. Before the
* activation of the master, these requests are processed by the master state
* machine itself. After activation the user have to ensure cyclic
* processing.
*
* \retval 0 Success.
* \retval -1 Error occured.
*/
int ecrt_slave_sdo_upload(
ec_master_t* master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint16_t index, /**< Index of the SDO. */
uint8_t subindex, /**< Subindex of the SDO. */
uint8_t *target, /**< Target buffer for the upload. */
size_t target_size, /**< Size of the target buffer. */
size_t *result_size, /**< Uploaded data size. */
uint32_t *abort_code /**< Abort code of the SDO upload. */
);
#endif /* ifndef __KERNEL__ */
/******************************************************************************
* Slave configuration methods
*****************************************************************************/

57
lib/master.c
View File

@ -222,3 +222,60 @@ void ecrt_master_sync_slave_clocks(ec_master_t *master)
}
/*****************************************************************************/
int ecrt_slave_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;
download.slave_position = slave_position;
download.sdo_index = index;
download.sdo_entry_subindex = subindex;
download.data_size = data_size;
download.data = data;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_DOWNLOAD, &download) == -1) {
if (errno == -EIO) {
if (abort_code) {
*abort_code = download.abort_code;
}
}
fprintf(stderr, "Failed to execute SDO download: %s\n",
strerror(errno));
return -1;
}
return 0;
}
/*****************************************************************************/
int ecrt_slave_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;
upload.slave_position = slave_position;
upload.sdo_index = index;
upload.sdo_entry_subindex = subindex;
upload.target_size = target_size;
upload.target = target;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SDO_UPLOAD, &upload) == -1) {
if (errno == -EIO) {
if (abort_code) {
*abort_code = upload.abort_code;
}
}
fprintf(stderr, "Failed to execute SDO upload: %s\n",
strerror(errno));
return -1;
}
*result_size = upload.data_size;
return 0;
}
/*****************************************************************************/