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ethercat
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Improved bus information API.

This commit is contained in:
Florian Pose 2009-07-28 15:42:00 +00:00
parent 4f4ac6e4fa
commit a7521cc69d
3 changed files with 258 additions and 119 deletions
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16
NEWS
View File

@ -35,10 +35,15 @@ Changes since 1.4.0:
* Going to the Bootstrap state is now supported by the state machines and the
command-line tool.
* Added ecrt_open_master() and ecrt_master_reserve() separation for
the userspace libary (thanks to Martin Troxler).
* Added ecrt_master() userspace interface, to get information about a
master (thanks to Martin Troxler).
* Introduced ecrt_master_slave() to get information about a certain slave.
the userspace library (thanks to Martin Troxler).
* Added bus information interface (methods ecrt_master(),
ecrt_master_get_slave(), ecrt_master_get_sync_manager(),
ecrt_master_get_pdo() and ecrt_master_get_pdo_entry()) to get information
about the currently connected slaves and the PDO entries provided (thanks to
Martin Troxler and Stefan Weiser).
* Added ecrt_master_sdo_download() and ecrt_master_sdo_upload()
methods to let an application transfer SDOs before activating the master
(thanks to Stefan Weiser).
* Fixed SDO upload segment response (thanks to Christoph Peter).
* SDO entry access rights are shown in 'ethercat sdos'.
* Added 64-bit data access macros to application header.
@ -48,9 +53,6 @@ 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.
* Changed EC_MAX_SII_SIZE to 4096.
* 'ethercat xml' creates valid XML <EtherCATInfoList> for more than one slave
(thanks to E. Burgstaller).

154
include/ecrt.h
View File

@ -55,11 +55,12 @@
* ecrt_slave_config_sync_manager()).
* - Added ecrt_open_master() and ecrt_master_reserve() separation for
* userspace.
* - Added ecrt_master() userspace interface, to get information about a
* master.
* - 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.
* - Added bus information interface (methods ecrt_master(),
* ecrt_master_get_slave(), ecrt_master_get_sync_manager(),
* ecrt_master_get_pdo() and ecrt_master_get_pdo_entry()) to get information
* about the currently connected slaves and the PDO entries provided.
* - Added ecrt_master_sdo_download() and ecrt_master_sdo_upload()
* methods to let an application transfer SDOs before activating the master.
* - Changed the meaning of the negative return values of
* ecrt_slave_config_reg_pdo_entry() and ecrt_slave_config_sdo*().
* - Imlemented the Vendor-specific over EtherCAT mailbox protocol. See
@ -220,9 +221,9 @@ typedef struct {
/** Slave information.
*
* This is used as an output parameter of ecrt_master_slave().
* This is used as an output parameter of ecrt_master_get_slave().
*
* \see ecrt_master_slave().
* \see ecrt_master_get_slave().
*/
typedef struct {
uint16_t position; /**< Offset of the slave in the ring. */
@ -557,13 +558,104 @@ int ecrt_master(
*
* \return 0 in case of success, else < 0
*/
int ecrt_master_slave(
int ecrt_master_get_slave(
ec_master_t *master, /**< EtherCAT master */
uint16_t position, /**< Slave position. */
uint16_t slave_position, /**< Slave position. */
ec_slave_info_t *slave_info /**< Structure that will output the
information */
);
/** Returns the proposed configuration of a slave's sync manager.
*
* Fills a given ec_sync_info_t structure with the attributes of a sync
* manager. The \a pdos field of the return value is left empty. Use
* ecrt_master_get_pdo() to get the PDO information.
*
* \return zero on success, else non-zero
*/
int ecrt_master_get_sync_manager(
ec_master_t *master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
ec_sync_info_t *sync /**< Pointer to output structure. */
);
/** Returns information about a currently assigned PDO.
*
* Fills a given ec_pdo_info_t structure with the attributes of a currently
* assigned PDO of the given sync manager. The \a entries field of the return
* value is left empty. Use ecrt_master_get_pdo_entry() to get the PDO
* entry information.
*
* \retval zero on success, else non-zero
*/
int ecrt_master_get_pdo(
ec_master_t *master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
uint16_t pos, /**< Zero-based PDO position. */
ec_pdo_info_t *pdo /**< Pointer to output structure. */
);
/** Returns information about a currently mapped PDO entry.
*
* Fills a given ec_pdo_entry_info_t structure with the attributes of a
* currently mapped PDO entry of the given PDO.
*
* \retval zero on success, else non-zero
*/
int ecrt_master_get_pdo_entry(
ec_master_t *master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
uint16_t pdo_pos, /**< Zero-based PDO position. */
uint16_t entry_pos, /**< Zero-based PDO entry position. */
ec_pdo_entry_info_t *entry /**< Pointer to output structure. */
);
/** 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_master_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_master_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__ */
/** Finishes the configuration phase and prepares for cyclic operation.
@ -666,50 +758,6 @@ 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
*****************************************************************************/

207
lib/master.c
View File

@ -131,13 +131,13 @@ int ecrt_master(ec_master_t* master, ec_master_info_t *master_info)
/*****************************************************************************/
int ecrt_master_slave(ec_master_t *master, uint16_t position,
int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
ec_slave_info_t *slave_info)
{
ec_ioctl_slave_t data;
int index;
data.position = position;
data.position = slave_position;
if (ioctl(master->fd, EC_IOCTL_SLAVE, &data) == -1) {
fprintf(stderr, "Failed to get slave info: %s\n", strerror(errno));
@ -161,6 +161,152 @@ int ecrt_master_slave(ec_master_t *master, uint16_t position,
/*****************************************************************************/
int ecrt_master_get_sync_manager(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, ec_sync_info_t *sync)
{
ec_ioctl_slave_sync_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_t));
data.slave_position = slave_position;
data.sync_index = sync_index;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC, &data) == -1) {
fprintf(stderr, "Failed to get sync manager information: %s\n",
strerror(errno));
return -1; // FIXME
}
sync->index = sync_index;
sync->dir = EC_READ_BIT(&data.control_register, 2) ?
EC_DIR_OUTPUT : EC_DIR_INPUT;
sync->n_pdos = data.pdo_count;
sync->pdos = NULL;
sync->watchdog_mode = EC_READ_BIT(&data.control_register, 6) ?
EC_WD_ENABLE : EC_WD_DISABLE;
return 0;
}
/*****************************************************************************/
int ecrt_master_get_pdo(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, uint16_t pos, ec_pdo_info_t *pdo)
{
ec_ioctl_slave_sync_pdo_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_t));
data.slave_position = slave_position;
data.sync_index = sync_index;
data.pdo_pos = pos;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO, &data) == -1) {
fprintf(stderr, "Failed to get pdo information: %s\n",
strerror(errno));
return -1; // FIXME
}
pdo->index = data.index;
pdo->n_entries = data.entry_count;
pdo->entries = NULL;
return 0;
}
/*****************************************************************************/
int ecrt_master_get_pdo_entry(ec_master_t *master, uint16_t slave_position,
uint8_t sync_index, uint16_t pdo_pos, uint16_t entry_pos,
ec_pdo_entry_info_t *entry)
{
ec_ioctl_slave_sync_pdo_entry_t data;
if (sync_index >= EC_MAX_SYNC_MANAGERS)
return -ENOENT;
memset(&data, 0x00, sizeof(ec_ioctl_slave_sync_pdo_entry_t));
data.slave_position = slave_position;
data.sync_index = sync_index;
data.pdo_pos = pdo_pos;
data.entry_pos = entry_pos;
if (ioctl(master->fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, &data) == -1) {
fprintf(stderr, "Failed to get pdo entry information: %s\n",
strerror(errno));
return -1; // FIXME
}
entry->index = data.index;
entry->subindex = data.subindex;
entry->bit_length = data.bit_length;
return 0;
}
/*****************************************************************************/
int ecrt_master_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_master_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;
}
/*****************************************************************************/
int ecrt_master_activate(ec_master_t *master)
{
if (ioctl(master->fd, EC_IOCTL_ACTIVATE,
@ -248,60 +394,3 @@ 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;
}
/*****************************************************************************/