diff --git a/TODO b/TODO
index 215d613c19499cfd3a3e51dadfbe30201baa6b8f..8ee1b2beeee105e3845e1a5bd813a969d020a26a 100644
--- a/TODO
+++ b/TODO
@@ -10,7 +10,6 @@ Version 1.4.0:
* Slaves as array.
* Replace all Sysfs files via the new ethercat tool.
- - Sdo entry value write
- Slave alias write
- Slave SII write
- Slave info (flags, mailbox, general)
@@ -36,7 +35,6 @@ Future issues:
kernel threads to user space daemon with a TCP interface replacing the
cdev).
* Implement user space realtime interface via cdev.
-* SDO write access from user space.
* Mailbox protocol handlers.
* Mailbox state machine using toggle bits.
* Mailbox gateway.
diff --git a/master/cdev.c b/master/cdev.c
index 006e29b56ab5193a4a2b4b47760eb68dbc3b78e9..2baf654149e6d5a2b1364cfa8f8bcc8b4f4540b1 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -684,6 +684,82 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
break;
}
+ case EC_IOCTL_SDO_DOWNLOAD:
+ {
+ ec_ioctl_sdo_download_t data;
+ ec_master_sdo_request_t request;
+
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+
+ if (!(request.slave = ec_master_find_slave(
+ master, 0, data.slave_position))) {
+ EC_ERR("Slave %u does not exist!\n", data.slave_position);
+ retval = -EINVAL;
+ break;
+ }
+
+ // copy data to download
+ if (!data.data_size) {
+ EC_ERR("Zero data size!\n");
+ retval = -EINVAL;
+ break;
+ }
+
+ ec_sdo_request_init(&request.req);
+ ec_sdo_request_address(&request.req,
+ data.sdo_index, data.sdo_entry_subindex);
+ if (ec_sdo_request_alloc(&request.req, data.data_size)) {
+ ec_sdo_request_clear(&request.req);
+ retval = -ENOMEM;
+ break;
+ }
+ if (copy_from_user(request.req.data,
+ (void __user *) data.data, data.data_size)) {
+ ec_sdo_request_clear(&request.req);
+ retval = -EFAULT;
+ break;
+ }
+ request.req.data_size = data.data_size;
+ ecrt_sdo_request_write(&request.req);
+
+ // schedule request.
+ down(&master->sdo_sem);
+ list_add_tail(&request.list, &master->slave_sdo_requests);
+ up(&master->sdo_sem);
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(master->sdo_queue,
+ request.req.state != EC_REQUEST_QUEUED)) {
+ // interrupted by signal
+ down(&master->sdo_sem);
+ if (request.req.state == EC_REQUEST_QUEUED) {
+ list_del(&request.req.list);
+ up(&master->sdo_sem);
+ retval = -EINTR;
+ break;
+ }
+ // request already processing: interrupt not possible.
+ up(&master->sdo_sem);
+ }
+
+ // wait until master FSM has finished processing
+ wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
+
+ if (request.req.state != EC_REQUEST_SUCCESS) {
+ retval = -EIO;
+ break;
+ }
+
+ ec_sdo_request_clear(&request.req);
+ break;
+ }
+
default:
retval = -ENOTTY;
}
diff --git a/master/ioctl.h b/master/ioctl.h
index bfe44321946c0fec252c59254f098959039e3386..94b6ba77c01b6243b1c87c15bf51082d8e9aca62 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -66,6 +66,7 @@
#define EC_IOCTL_SDO EC_IOWR(0x0b, ec_ioctl_sdo_t)
#define EC_IOCTL_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_sdo_entry_t)
#define EC_IOCTL_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_sdo_upload_t)
+#define EC_IOCTL_SDO_DOWNLOAD EC_IOW(0x0e, ec_ioctl_sdo_download_t)
/*****************************************************************************/
@@ -244,4 +245,15 @@ typedef struct {
/*****************************************************************************/
+typedef struct {
+ // inputs
+ uint16_t slave_position;
+ uint16_t sdo_index;
+ uint8_t sdo_entry_subindex;
+ unsigned int data_size;
+ uint8_t *data;
+} ec_ioctl_sdo_download_t;
+
+/*****************************************************************************/
+
#endif
diff --git a/tools/Master.cpp b/tools/Master.cpp
index 45413ff6757e0995d51193e65cccacdacdaf6dd7..01a603ca8df5ba7c6e21d33979af146a955ee90f 100644
--- a/tools/Master.cpp
+++ b/tools/Master.cpp
@@ -18,24 +18,33 @@ using namespace std;
#include "Master.h"
-#if __BYTE_ORDER == __LITTLE_ENDIAN
-
-#define le16tocpu(x) x
-#define le32tocpu(x) x
-
-#elif __BYTE_ORDER == __BIG_ENDIAN
-
-#define le16tocpu(x) \
+#define swap16(x) \
((uint16_t)( \
(((uint16_t)(x) & 0x00ffU) << 8) | \
(((uint16_t)(x) & 0xff00U) >> 8) ))
-#define le32tocpu(x) \
+#define swap32(x) \
((uint32_t)( \
(((uint32_t)(x) & 0x000000ffUL) << 24) | \
(((uint32_t)(x) & 0x0000ff00UL) << 8) | \
(((uint32_t)(x) & 0x00ff0000UL) >> 8) | \
(((uint32_t)(x) & 0xff000000UL) >> 24) ))
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+
+#define le16tocpu(x) x
+#define le32tocpu(x) x
+
+#define cputole16(x) x
+#define cputole32(x) x
+
+#elif __BYTE_ORDER == __BIG_ENDIAN
+
+#define le16tocpu(x) swap16(x)
+#define le32tocpu(x) swap32(x)
+
+#define cputole16(x) swap16(x)
+#define cputole32(x) swap32(x)
+
#endif
/****************************************************************************/
@@ -300,6 +309,165 @@ void Master::listSdos(int slavePosition, bool quiet)
/****************************************************************************/
+void Master::sdoDownload(
+ int slavePosition,
+ const string &dataTypeStr,
+ const vector<string> &commandArgs
+ )
+{
+ stringstream strIndex, strSubIndex, strValue, err;
+ int number, sval;
+ ec_ioctl_sdo_download_t data;
+ unsigned int i, uval;
+ const CoEDataType *dataType = NULL;
+
+ if (slavePosition < 0) {
+ err << "'sdo_download' requires a slave! Please specify --slave.";
+ throw MasterException(err.str());
+ }
+ data.slave_position = slavePosition;
+
+ if (commandArgs.size() != 3) {
+ err << "'sdo_download' takes 3 arguments!";
+ throw MasterException(err.str());
+ }
+
+ strIndex << commandArgs[0];
+ strIndex >> hex >> number;
+ if (strIndex.fail() || number < 0x0000 || number > 0xffff) {
+ err << "Invalid Sdo index '" << commandArgs[0] << "'!";
+ throw MasterException(err.str());
+ }
+ data.sdo_index = number;
+
+ strSubIndex << commandArgs[1];
+ strSubIndex >> hex >> number;
+ if (strSubIndex.fail() || number < 0x00 || number > 0xff) {
+ err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
+ throw MasterException(err.str());
+ }
+ data.sdo_entry_subindex = number;
+
+ if (dataTypeStr != "") { // data type specified
+ if (!(dataType = findDataType(dataTypeStr))) {
+ err << "Invalid data type '" << dataTypeStr << "'!";
+ throw MasterException(err.str());
+ }
+ } else { // no data type specified: fetch from dictionary
+ ec_ioctl_sdo_entry_t entry;
+ unsigned int entryByteSize;
+
+ open(Read);
+
+ try {
+ getSdoEntry(&entry, slavePosition,
+ data.sdo_index, data.sdo_entry_subindex);
+ } catch (MasterException &e) {
+ err << "Failed to determine Sdo entry data type. "
+ << "Please specify --type.";
+ throw MasterException(err.str());
+ }
+ if (!(dataType = findDataType(entry.data_type))) {
+ err << "Pdo entry has unknown data type 0x"
+ << hex << setfill('0') << setw(4) << entry.data_type << "!"
+ << " Please specify --type.";
+ throw MasterException(err.str());
+ }
+ }
+
+ if (dataType->byteSize) {
+ data.data_size = dataType->byteSize;
+ } else {
+ data.data_size = DefaultBufferSize;
+ }
+
+ data.data = new uint8_t[data.data_size + 1];
+
+ strValue << commandArgs[2];
+
+ switch (dataType->coeCode) {
+ case 0x0002: // int8
+ strValue >> sval;
+ if ((uint32_t) sval > 0xff) {
+ delete [] data.data;
+ err << "Invalid value for type '"
+ << dataType->name << "'!";
+ throw MasterException(err.str());
+ }
+ *data.data = (int8_t) sval;
+ break;
+ case 0x0003: // int16
+ strValue >> sval;
+ if ((uint32_t) sval > 0xffff) {
+ delete [] data.data;
+ err << "Invalid value for type '"
+ << dataType->name << "'!";
+ throw MasterException(err.str());
+ }
+ *(int16_t *) data.data = cputole16(sval);
+ break;
+ case 0x0004: // int32
+ strValue >> sval;
+ *(int32_t *) data.data = cputole32(sval);
+ break;
+ case 0x0005: // uint8
+ strValue >> uval;
+ if ((uint32_t) uval > 0xff) {
+ delete [] data.data;
+ err << "Invalid value for type '"
+ << dataType->name << "'!";
+ throw MasterException(err.str());
+ }
+ *data.data = (uint8_t) uval;
+ break;
+ case 0x0006: // uint16
+ strValue >> uval;
+ if ((uint32_t) uval > 0xffff) {
+ delete [] data.data;
+ err << "Invalid value for type '"
+ << dataType->name << "'!";
+ throw MasterException(err.str());
+ }
+ *(uint16_t *) data.data = cputole16(uval);
+ break;
+ case 0x0007: // uint32
+ strValue >> uval;
+ *(uint32_t *) data.data = cputole32(uval);
+ break;
+ case 0x0009: // string
+ if (strValue.str().size() >= data.data_size) {
+ err << "String too big";
+ throw MasterException(err.str());
+ }
+ data.data_size = strValue.str().size();
+ strValue >> (char *) data.data;
+ break;
+ default:
+ break;
+ }
+
+ if (strValue.fail()) {
+ err << "Invalid value argument '" << commandArgs[2] << "'!";
+ throw MasterException(err.str());
+ }
+
+ cerr << "dt " << dataType->name << endl;
+ printRawData(data.data, data.data_size);
+
+ open(ReadWrite);
+
+ if (ioctl(fd, EC_IOCTL_SDO_DOWNLOAD, &data) < 0) {
+ stringstream err;
+ err << "Failed to download Sdo: " << strerror(errno);
+ delete [] data.data;
+ throw MasterException(err.str());
+ }
+
+ delete [] data.data;
+}
+
+/****************************************************************************/
+
void Master::sdoUpload(
int slavePosition,
const string &dataTypeStr,
@@ -376,7 +544,7 @@ void Master::sdoUpload(
if (dataType->byteSize) {
data.target_size = dataType->byteSize;
} else {
- data.target_size = DefaultTargetSize;
+ data.target_size = DefaultBufferSize;
}
data.target = new uint8_t[data.target_size + 1];
diff --git a/tools/Master.h b/tools/Master.h
index f96db21d53d717d3340a04444f57af122bee62f6..c3f117c96831d812aa96ddcdd01176fa53cc6e51 100644
--- a/tools/Master.h
+++ b/tools/Master.h
@@ -48,6 +48,7 @@ class Master
void showMaster();
void listPdos(int, bool = false);
void listSdos(int, bool = false);
+ void sdoDownload(int, const string &, const vector<string> &);
void sdoUpload(int, const string &, const vector<string> &);
void requestStates(int, const vector<string> &);
void generateXml(int);
@@ -83,7 +84,7 @@ class Master
static void printRawData(const uint8_t *, unsigned int);
private:
- enum {DefaultTargetSize = 1024};
+ enum {DefaultBufferSize = 1024};
unsigned int index;
int fd;
diff --git a/tools/main.cpp b/tools/main.cpp
index fc5e820bfe4e6cedb27bdbfe4a1720f98e523319..a7773c7b89839c7c2dc293b6b01cd1bedc1087f2 100644
--- a/tools/main.cpp
+++ b/tools/main.cpp
@@ -39,7 +39,8 @@ void printUsage()
<< " master Show master information." << endl
<< " pdos List Pdo mapping." << endl
<< " sdos List Sdo dictionaries." << endl
- << " sdo_upload (su) Read Sdo entries." << endl
+ << " sdo_download (sd) Write an Sdo entry." << endl
+ << " sdo_upload (su) Read an Sdo entry." << endl
<< " state Request slave states." << endl
<< " xml Generate slave information xmls." << endl
<< "Global options:" << endl
@@ -178,6 +179,8 @@ int main(int argc, char **argv)
master.listPdos(slavePosition, quiet);
} else if (command == "sdos") {
master.listSdos(slavePosition, quiet);
+ } else if (command == "sdo_download" || command == "sd") {
+ master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "sdo_upload" || command == "su") {
master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "state") {