Creating slave configurations.

examples/user/main.c

@@ -12,6 +12,7 @@ int main(int argc, char **argv)
 {
 	ec_master_t *master;
 	ec_domain_t *domain;
+	ec_slave_config_t *sc;
     
     master = ecrt_request_master(0);
 	if (!master)
@@ -21,6 +22,10 @@ int main(int argc, char **argv)
     if (!domain)
         return -1;
 
+    sc = ecrt_master_slave_config(master, 0, 0, 0x00000002, 0x044C2C52);
+    if (!sc)
+        return -1;
+
 	while (1) {
 		sleep(1);
 	}

lib/Makefile.am

@@ -45,6 +45,7 @@ libethercat_la_SOURCES = \
 
 noinst_HEADERS = \
 	domain.h \
-	master.h
+	master.h \
+	slave_config.h
 
 #------------------------------------------------------------------------------

lib/master.c

@@ -39,6 +39,7 @@
 
 #include "master.h"
 #include "domain.h"
+#include "slave_config.h"
 #include "master/ioctl.h"
 
 /*****************************************************************************/
@@ -71,7 +72,30 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
         uint16_t alias, uint16_t position, uint32_t vendor_id,
         uint32_t product_code)
 {
-    return 0;
+    ec_ioctl_config_t data;
+    ec_slave_config_t *sc;
+    int index;
+
+    sc = malloc(sizeof(ec_slave_config_t));
+    if (!sc) {
+        fprintf(stderr, "Failed to allocate memory.\n");
+        return 0;
+    }
+    
+    data.alias = alias;
+    data.position = position;
+    data.vendor_id = vendor_id;
+    data.product_code = product_code;
+    
+    if (ioctl(master->fd, EC_IOCTL_CREATE_SLAVE_CONFIG, &data) == -1) {
+        fprintf(stderr, "Failed to create slave config: %s\n",
+                strerror(errno));
+        free(sc);
+        return 0; 
+    }
+
+    sc->index = data.config_index;
+    return sc;
 }
 
 /*****************************************************************************/

lib/slave_config.h

@@ -0,0 +1,42 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+#include "include/ecrt.h"
+
+/*****************************************************************************/
+
+struct ec_slave_config {
+    unsigned int index;
+};
+
+/*****************************************************************************/

master/cdev.c

@@ -1408,6 +1408,50 @@ int ec_cdev_ioctl_create_domain(
     return domain->index;
 }
 
+/*****************************************************************************/
+
+/** Create a slave configuration.
+ */
+int ec_cdev_ioctl_create_slave_config(
+        ec_master_t *master, /**< EtherCAT master. */
+        unsigned long arg, /**< ioctl() argument. */
+        ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+        )
+{
+    ec_ioctl_config_t data;
+    ec_slave_config_t *sc, *entry;
+
+	if (unlikely(!priv->requested))
+		return -EPERM;
+
+    if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+        return -EFAULT;
+    }
+
+    sc = ecrt_master_slave_config(master, data.alias, data.position,
+            data.vendor_id, data.product_code);
+    if (!sc)
+        return -ENODEV; // FIXME
+
+    data.config_index = 0;
+
+    if (down_interruptible(&master->master_sem))
+        return -EINTR;
+
+    list_for_each_entry(entry, &master->configs, list) {
+        if (entry == sc)
+            break;
+        data.config_index++;
+    }
+
+    up(&master->master_sem);
+
+    if (copy_to_user((void __user *) arg, &data, sizeof(data)))
+        return -EFAULT;
+
+    return 0;
+}
+
 /******************************************************************************
  * File operations
  *****************************************************************************/
@@ -1529,6 +1573,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
             if (!(filp->f_mode & FMODE_WRITE))
 				return -EPERM;
 			return ec_cdev_ioctl_create_domain(master, arg, priv);
+        case EC_IOCTL_CREATE_SLAVE_CONFIG:
+            if (!(filp->f_mode & FMODE_WRITE))
+				return -EPERM;
+			return ec_cdev_ioctl_create_slave_config(master, arg, priv);
         default:
             return -ENOTTY;
     }

master/ioctl.h

@@ -81,6 +81,7 @@
 
 #define EC_IOCTL_REQUEST                EC_IO(0x16)
 #define EC_IOCTL_CREATE_DOMAIN          EC_IO(0x17)
+#define EC_IOCTL_CREATE_SLAVE_CONFIG  EC_IOWR(0x18, ec_ioctl_config_t)
 
 #define EC_IOCTL_STRING_SIZE 64