diff --git a/TODO b/TODO
index 8ee1b2beeee105e3845e1a5bd813a969d020a26a..92089a8b6e843764eb98f7ee52bd1bfd94a342b3 100644
--- a/TODO
+++ b/TODO
@@ -8,12 +8,11 @@ $Id$
Version 1.4.0:
-* Slaves as array.
* Replace all Sysfs files via the new ethercat tool.
- Slave alias write
- - Slave SII write
- Slave info (flags, mailbox, general)
- Config info (alias, position, type, Pdos, Sdos)
+* Slaves as array.
* Remove the end state of the master state machine.
* Supply new ec_master_state_t.
* Implement ecrt_slave_config_state().
diff --git a/master/cdev.c b/master/cdev.c
index 2baf654149e6d5a2b1364cfa8f8bcc8b4f4540b1..907f748a822abc7dbbdbf02b2b3636b367e512cd 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -196,6 +196,7 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
data.sync_count = slave->sii.sync_count;
data.sdo_count = ec_slave_sdo_count(slave);
+ data.sii_nwords = slave->sii_nwords;
if (slave->sii.name) {
strncpy(data.name, slave->sii.name,
@@ -760,6 +761,40 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
break;
}
+ case EC_IOCTL_SII_READ:
+ {
+ ec_ioctl_sii_read_t data;
+ const ec_slave_t *slave;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+
+ if (!(slave = ec_master_find_slave(
+ master, 0, data.slave_position))) {
+ EC_ERR("Slave %u does not exist!\n", data.slave_position);
+ retval = -EINVAL;
+ break;
+ }
+
+ if (!data.nwords
+ || data.offset + data.nwords > slave->sii_nwords) {
+ EC_ERR("Invalid SII read offset/size %u/%u for slave "
+ "SII size %u!\n", data.offset,
+ data.nwords, slave->sii_nwords);
+ retval = -EINVAL;
+ break;
+ }
+
+ if (copy_to_user((void __user *) data.words,
+ slave->sii_words + data.offset, data.nwords * 2)) {
+ retval = -EFAULT;
+ break;
+ }
+ break;
+ }
+
default:
retval = -ENOTTY;
}
diff --git a/master/ioctl.h b/master/ioctl.h
index 94b6ba77c01b6243b1c87c15bf51082d8e9aca62..ed7db26241dd6a214d39d0ef17756c3167413263 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -67,23 +67,24 @@
#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)
+#define EC_IOCTL_SII_READ EC_IOWR(0x0f, ec_ioctl_sii_read_t)
/*****************************************************************************/
typedef struct {
- unsigned int slave_count;
+ uint32_t slave_count;
uint8_t mode;
struct {
uint8_t address[6];
uint8_t attached;
- unsigned int tx_count;
- unsigned int rx_count;
+ uint32_t tx_count;
+ uint32_t rx_count;
} devices[2];
} ec_ioctl_master_t;
/*****************************************************************************/
-#define EC_IOCTL_SLAVE_NAME_SIZE 104
+#define EC_IOCTL_SLAVE_NAME_SIZE 100
typedef struct {
// input
@@ -98,6 +99,7 @@ typedef struct {
uint8_t state;
uint8_t sync_count;
uint16_t sdo_count;
+ uint32_t sii_nwords;
char name[EC_IOCTL_SLAVE_NAME_SIZE];
} ec_ioctl_slave_t;
@@ -106,7 +108,7 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
- unsigned int sync_index;
+ uint32_t sync_index;
// outputs
uint16_t physical_start_address;
@@ -124,8 +126,8 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
- unsigned int sync_index;
- unsigned int pdo_pos;
+ uint32_t sync_index;
+ uint32_t pdo_pos;
// outputs
uint8_t dir;
@@ -141,9 +143,9 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
- unsigned int sync_index;
- unsigned int pdo_pos;
- unsigned int entry_pos;
+ uint32_t sync_index;
+ uint32_t pdo_pos;
+ uint32_t entry_pos;
// outputs
uint16_t index;
@@ -156,37 +158,37 @@ typedef struct {
typedef struct {
// inputs
- unsigned int index;
+ uint32_t index;
// outputs
- unsigned int data_size;
+ uint32_t data_size;
uint32_t logical_base_address;
uint16_t working_counter;
uint16_t expected_working_counter;
- unsigned int fmmu_count;
+ uint32_t fmmu_count;
} ec_ioctl_domain_t;
/*****************************************************************************/
typedef struct {
// inputs
- unsigned int domain_index;
- unsigned int fmmu_index;
+ uint32_t domain_index;
+ uint32_t fmmu_index;
// outputs
uint16_t slave_config_alias;
uint16_t slave_config_position;
uint8_t fmmu_dir;
uint32_t logical_address;
- unsigned int data_size;
+ uint32_t data_size;
} ec_ioctl_domain_fmmu_t;
/*****************************************************************************/
typedef struct {
// inputs
- unsigned int domain_index;
- unsigned int data_size;
+ uint32_t domain_index;
+ uint32_t data_size;
unsigned char *target;
} ec_ioctl_data_t;
@@ -236,11 +238,11 @@ typedef struct {
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
- unsigned int target_size;
+ uint32_t target_size;
uint8_t *target;
// outputs
- unsigned int data_size;
+ uint32_t data_size;
} ec_ioctl_sdo_upload_t;
/*****************************************************************************/
@@ -250,10 +252,20 @@ typedef struct {
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
- unsigned int data_size;
+ uint32_t data_size;
uint8_t *data;
} ec_ioctl_sdo_download_t;
/*****************************************************************************/
+typedef struct {
+ // inputs
+ uint16_t slave_position;
+ uint16_t offset;
+ uint32_t nwords;
+ uint16_t *words;
+} ec_ioctl_sii_read_t;
+
+/*****************************************************************************/
+
#endif
diff --git a/tools/Master.cpp b/tools/Master.cpp
index c28c232cff4cb4b074ecd5a604d7802fab3899f4..42d5f62cb2b6d79c10844fc643f5d0de977f253c 100644
--- a/tools/Master.cpp
+++ b/tools/Master.cpp
@@ -606,6 +606,47 @@ void Master::sdoUpload(
/****************************************************************************/
+void Master::siiRead(int slavePosition)
+{
+ ec_ioctl_sii_read_t data;
+ ec_ioctl_slave_t slave;
+ unsigned int i;
+
+ if (slavePosition < 0) {
+ stringstream err;
+ err << "'sii_read' requires a slave! Please specify --slave.";
+ throw MasterException(err.str());
+ }
+ data.slave_position = slavePosition;
+
+ open(Read);
+
+ getSlave(&slave, slavePosition);
+
+ if (!slave.sii_nwords)
+ return;
+
+ data.offset = 0;
+ data.nwords = slave.sii_nwords;
+ data.words = new uint16_t[data.nwords];
+
+ if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
+ stringstream err;
+ delete [] data.words;
+ err << "Failed to read SII: " << strerror(errno);
+ throw MasterException(err.str());
+ }
+
+ for (i = 0; i < data.nwords; i++) {
+ uint16_t *w = data.words + i;
+ cout << *(uint8_t *) w << *((uint8_t *) w + 1);
+ }
+
+ delete [] data.words;
+}
+
+/****************************************************************************/
+
void Master::requestStates(
int slavePosition,
const vector<string> &commandArgs
diff --git a/tools/Master.h b/tools/Master.h
index c3f117c96831d812aa96ddcdd01176fa53cc6e51..f41d1935f21a492b45aac1ff5799da814f5374be 100644
--- a/tools/Master.h
+++ b/tools/Master.h
@@ -50,6 +50,7 @@ class Master
void listSdos(int, bool = false);
void sdoDownload(int, const string &, const vector<string> &);
void sdoUpload(int, const string &, const vector<string> &);
+ void siiRead(int);
void requestStates(int, const vector<string> &);
void generateXml(int);
diff --git a/tools/main.cpp b/tools/main.cpp
index a7773c7b89839c7c2dc293b6b01cd1bedc1087f2..d2be8c2a2475333a9277086c1e59eef7f01671a1 100644
--- a/tools/main.cpp
+++ b/tools/main.cpp
@@ -41,6 +41,7 @@ void printUsage()
<< " sdos List Sdo dictionaries." << endl
<< " sdo_download (sd) Write an Sdo entry." << endl
<< " sdo_upload (su) Read an Sdo entry." << endl
+ << " sii_read (sr) Output a slave's SII contents." << endl
<< " state Request slave states." << endl
<< " xml Generate slave information xmls." << endl
<< "Global options:" << endl
@@ -183,6 +184,8 @@ int main(int argc, char **argv)
master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "sdo_upload" || command == "su") {
master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
+ } else if (command == "sii_read" || command == "sr") {
+ master.siiRead(slavePosition);
} else if (command == "state") {
master.requestStates(slavePosition, commandArgs);
} else if (command == "xml") {