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ethercat
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Implemented ecrt_slave_config_idn() for user-space library.

This commit is contained in:
Florian Pose 2010-03-09 12:01:29 +01:00
parent c0d07eab5f
commit d5c2b6f0b2
4 changed files with 104 additions and 19 deletions
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1
TODO
View File

@ -24,7 +24,6 @@ Version 1.5.0:
* Output warning when send_ext() is called in illegal context.
* Add master index to log messages.
* Implement SoE fragmenting.
* User-space implementation for SoE.
* Implement CompleteAccess for SDO uploads.
* Check for Enable SDO Complete Access flag.
* Remove allow_scanning flag.

20
lib/slave_config.c
View File

@ -471,3 +471,23 @@ void ecrt_slave_config_state(const ec_slave_config_t *sc,
}
/*****************************************************************************/
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
const uint8_t *data, size_t size)
{
ec_ioctl_sc_idn_t io;
io.config_index = sc->index;
io.idn = idn;
io.data = data;
io.size = size;
if (ioctl(sc->master->fd, EC_IOCTL_SC_IDN, &io) == -1) {
fprintf(stderr, "Failed to configure IDN.\n");
return -1; // FIXME
}
return 0;
}
/*****************************************************************************/

55
master/cdev.c
View File

@ -2417,6 +2417,57 @@ int ec_cdev_ioctl_sc_state(
/*****************************************************************************/
/** Configures an IDN.
*/
int ec_cdev_ioctl_sc_idn(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg, /**< ioctl() argument. */
ec_cdev_priv_t *priv /**< Private data structure of file handle. */
)
{
ec_ioctl_sc_idn_t ioctl;
ec_slave_config_t *sc;
uint8_t *data = NULL;
int ret;
if (unlikely(!priv->requested))
return -EPERM;
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl)))
return -EFAULT;
if (!ioctl.size)
return -EINVAL;
if (!(data = kmalloc(ioctl.size, GFP_KERNEL))) {
return -ENOMEM;
}
if (copy_from_user(data, (void __user *) ioctl.data, ioctl.size)) {
kfree(data);
return -EFAULT;
}
if (down_interruptible(&master->master_sem)) {
kfree(data);
return -EINTR;
}
if (!(sc = ec_master_get_config(master, ioctl.config_index))) {
up(&master->master_sem);
kfree(data);
return -ENOENT;
}
up(&master->master_sem); // FIXME
ret = ecrt_slave_config_idn(sc, ioctl.idn, data, ioctl.size);
kfree(data);
return ret;
}
/*****************************************************************************/
/** Gets the domain's offset in the total process data.
*/
int ec_cdev_ioctl_domain_offset(
@ -3687,6 +3738,10 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
return ec_cdev_ioctl_sc_create_voe_handler(master, arg, priv);
case EC_IOCTL_SC_STATE:
return ec_cdev_ioctl_sc_state(master, arg, priv);
case EC_IOCTL_SC_IDN:
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
return ec_cdev_ioctl_sc_idn(master, arg, priv);
case EC_IOCTL_DOMAIN_OFFSET:
return ec_cdev_ioctl_domain_offset(master, arg, priv);
case EC_IOCTL_DOMAIN_PROCESS:

47
master/ioctl.h
View File

@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 4
#define EC_IOCTL_VERSION_MAGIC 5
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@ -116,23 +116,24 @@
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x32, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x33, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x34, ec_ioctl_sc_state_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x35)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x36)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x37)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x38, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x39, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3e, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x3f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x45, size_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x35, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x36)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x37)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x38)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x39, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3a, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x3f, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x46, size_t)
/*****************************************************************************/
@ -578,6 +579,16 @@ typedef struct {
/*****************************************************************************/
typedef struct {
// inputs
uint32_t config_index;
uint16_t idn;
const uint8_t *data;
size_t size;
} ec_ioctl_sc_idn_t;
/*****************************************************************************/
typedef struct {
// inputs
uint32_t domain_index;