diff --git a/examples/user/main.c b/examples/user/main.c
index 7c69c29575488e3f4084d5af6c3de03e524a7db4..f545a1c6e008b2c492290ebe47a3bea2bbe2ed63 100644
--- a/examples/user/main.c
+++ b/examples/user/main.c
@@ -4,15 +4,39 @@
*
****************************************************************************/
+#include <unistd.h>
+#include <sys/time.h>
+#include <stdio.h>
+#include <errno.h>
+#include <string.h>
+#include <signal.h>
+
#include "ecrt.h"
/****************************************************************************/
+static unsigned int sig_alarms = 0;
+static unsigned int user_alarms = 0;
+
+/****************************************************************************/
+
+void signal_handler(int signum) {
+ switch (signum) {
+ case SIGALRM:
+ sig_alarms++;
+ break;
+ }
+}
+
+/****************************************************************************/
+
int main(int argc, char **argv)
{
ec_master_t *master;
ec_domain_t *domain;
ec_slave_config_t *sc;
+ struct sigaction sa;
+ struct itimerval tv;
master = ecrt_request_master(0);
if (!master)
@@ -26,8 +50,41 @@ int main(int argc, char **argv)
if (!sc)
return -1;
+ if (ecrt_master_activate(master))
+ return -1;
+
+ sa.sa_handler = signal_handler;
+ sigemptyset(&sa.sa_mask);
+ sa.sa_flags = 0;
+ if (sigaction(SIGALRM, &sa, 0)) {
+ fprintf(stderr, "Failed to install signal handler!\n");
+ return -1;
+ }
+
+ tv.it_interval.tv_sec = 0;
+ tv.it_interval.tv_usec = 10000;
+ tv.it_value.tv_sec = 0;
+ tv.it_value.tv_usec = 1;
+ if (setitimer(ITIMER_REAL, &tv, NULL)) {
+ fprintf(stderr, "Failed to start timer: %s\n", strerror(errno));
+ return 1;
+ }
+
while (1) {
- sleep(1);
+ sleep(1);
+
+ while (sig_alarms != user_alarms) {
+
+#if 0
+ struct timeval t;
+ gettimeofday(&t, NULL);
+ printf("%u %u\n", t.tv_sec, t.tv_usec);
+#endif
+ ecrt_master_receive(master);
+ ecrt_master_send(master);
+
+ user_alarms++;
+ }
}
return 0;
diff --git a/lib/master.c b/lib/master.c
index eb28d83d5acb85b6d2a9c66036282cf94cefc018..3be9c33cb66f94af7abc71afa435a3029d27b60f 100644
--- a/lib/master.c
+++ b/lib/master.c
@@ -102,6 +102,12 @@ ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,
int ecrt_master_activate(ec_master_t *master)
{
+ if (ioctl(master->fd, EC_IOCTL_ACTIVATE, NULL) == -1) {
+ fprintf(stderr, "Failed to activate master: %s\n",
+ strerror(errno));
+ return -1;
+ }
+
return 0;
}
@@ -109,12 +115,18 @@ int ecrt_master_activate(ec_master_t *master)
void ecrt_master_send(ec_master_t *master)
{
+ if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {
+ fprintf(stderr, "Failed to send: %s\n", strerror(errno));
+ }
}
/*****************************************************************************/
void ecrt_master_receive(ec_master_t *master)
{
+ if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {
+ fprintf(stderr, "Failed to receive: %s\n", strerror(errno));
+ }
}
/*****************************************************************************/
@@ -123,5 +135,4 @@ void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)
{
}
-
/*****************************************************************************/
diff --git a/master/cdev.c b/master/cdev.c
index 76ac1ee07846b5edddbbe1dcd2612b01c8c8d854..7999a1de8c9ab1a55803b83e20a23b50232e44da 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -1452,6 +1452,63 @@ int ec_cdev_ioctl_create_slave_config(
return 0;
}
+/*****************************************************************************/
+
+/** Activates the master.
+ */
+int ec_cdev_ioctl_activate(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ if (ecrt_master_activate(master))
+ return -EIO;
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Send frames.
+ */
+int ec_cdev_ioctl_send(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ spin_lock_bh(&master->internal_lock);
+ ecrt_master_send(master);
+ spin_unlock_bh(&master->internal_lock);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Receive frames.
+ */
+int ec_cdev_ioctl_receive(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg, /**< ioctl() argument. */
+ ec_cdev_priv_t *priv /**< Private data structure of file handle. */
+ )
+{
+ if (unlikely(!priv->requested))
+ return -EPERM;
+
+ spin_lock_bh(&master->internal_lock);
+ ecrt_master_receive(master);
+ spin_unlock_bh(&master->internal_lock);
+ return 0;
+}
+
/******************************************************************************
* File operations
*****************************************************************************/
@@ -1577,6 +1634,18 @@ 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_slave_config(master, arg, priv);
+ case EC_IOCTL_ACTIVATE:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_activate(master, arg, priv);
+ case EC_IOCTL_SEND:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_send(master, arg, priv);
+ case EC_IOCTL_RECEIVE:
+ if (!(filp->f_mode & FMODE_WRITE))
+ return -EPERM;
+ return ec_cdev_ioctl_receive(master, arg, priv);
default:
return -ENOTTY;
}
diff --git a/master/ioctl.h b/master/ioctl.h
index a261c9629c5004d5e9e58c3a28748c6c1c385beb..2188a77ec0b449d1c7dfa30077257d4989293ac7 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -82,6 +82,9 @@
#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_ACTIVATE EC_IO(0x19)
+#define EC_IOCTL_SEND EC_IO(0x1a)
+#define EC_IOCTL_RECEIVE EC_IO(0x1b)
#define EC_IOCTL_STRING_SIZE 64