lib/sdo_request.c
author Florian Pose <fp@igh-essen.com>
Wed, 06 May 2009 14:59:21 +0000
changeset 1450 117f5497efd9
parent 1363 11c0b2caa253
child 1959 656f114153c2
permissions -rw-r--r--
TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
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 *  
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 *  This file is part of the IgH EtherCAT master userspace library.
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 *  
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 *  The IgH EtherCAT master userspace library is free software; you can
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 *  redistribute it and/or modify it under the terms of the GNU Lesser General
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 *  Public License as published by the Free Software Foundation; version 2.1
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 *  of the License.
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 *
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 *  The IgH EtherCAT master userspace library is distributed in the hope that
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 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
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 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU Lesser General Public License for more details.
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 *
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 *  You should have received a copy of the GNU Lesser General Public License
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 *  along with the IgH EtherCAT master userspace library. If not, see
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 *  <http://www.gnu.org/licenses/>.
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 *  
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 *  ---
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 *  
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 * Canopen over EtherCAT SDO request functions.
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 */
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/*****************************************************************************/
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#include <stdio.h>
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#include <errno.h>
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#include <string.h>
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#include "sdo_request.h"
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#include "master/ioctl.h"
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#include "slave_config.h"
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#include "master.h"
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/*****************************************************************************
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 * Realtime interface.
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 ****************************************************************************/
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void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
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{
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    ec_ioctl_sdo_request_t data;
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    data.config_index = req->config->index;
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    data.request_index = req->index;
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    data.timeout = timeout;
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    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT,
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                &data) == -1)
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        fprintf(stderr, "Failed to set SDO request timeout: %s\n",
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                strerror(errno));
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}
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/*****************************************************************************/
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uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
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{
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    return req->data;
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}
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/*****************************************************************************/
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size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
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{
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    return req->data_size;
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}
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/*****************************************************************************/
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ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req)
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{
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    ec_ioctl_sdo_request_t data;
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    data.config_index = req->config->index;
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    data.request_index = req->index;
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    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE,
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                &data) == -1)
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        fprintf(stderr, "Failed to get SDO request state: %s\n",
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                strerror(errno));
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    if (data.size) { // new data waiting to be copied
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        if (req->mem_size < data.size) {
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            if (req->data)
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                free(req->data);
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            req->data = malloc(data.size);
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            if (!req->data) {
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                req->mem_size = 0;
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                fprintf(stderr, "Failed to allocate %u bytes of SDO data"
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                        " memory!\n", data.size);
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                return EC_REQUEST_ERROR;
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            }
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            req->mem_size = data.size;
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        }
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        data.data = req->data;
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        if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_DATA,
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                    &data) == -1) {
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            fprintf(stderr, "Failed to get SDO data: %s\n", strerror(errno));
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            return EC_REQUEST_ERROR;
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        }
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        req->data_size = data.size;
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    }
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    return data.state;
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}
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/*****************************************************************************/
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void ecrt_sdo_request_read(ec_sdo_request_t *req)
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{
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    ec_ioctl_sdo_request_t data;
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    data.config_index = req->config->index;
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    data.request_index = req->index;
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    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ,
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                &data) == -1)
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        fprintf(stderr, "Failed to command an SDO read operation : %s\n",
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                strerror(errno));
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}
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/*****************************************************************************/
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void ecrt_sdo_request_write(ec_sdo_request_t *req)
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{
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    ec_ioctl_sdo_request_t data;
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    data.config_index = req->config->index;
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    data.request_index = req->index;
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    data.data = req->data;
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    data.size = req->data_size;
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    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE,
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                &data) == -1)
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        fprintf(stderr, "Failed to command an SDO write operation : %s\n",
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                strerror(errno));
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}
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/*****************************************************************************/