author | Florian Pose <fp@igh-essen.com> |
Tue, 10 Jan 2012 10:12:26 +0100 | |
changeset 2245 | 13ef066f37d3 |
parent 1959 | 656f114153c2 |
child 2421 | bc2d4bf9cbe5 |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
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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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* Vendor specific over EtherCAT protocol handler functions. |
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*/ |
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/*****************************************************************************/ |
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#include <stdlib.h> |
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#include <sys/ioctl.h> |
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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 "voe_handler.h" |
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#include "slave_config.h" |
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#include "master.h" |
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#include "master/ioctl.h" |
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/*****************************************************************************/ |
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void ec_voe_handler_clear(ec_voe_handler_t *voe) |
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{ |
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if (voe->data) |
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free(voe->data); |
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} |
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/*****************************************************************************/ |
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void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id, |
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uint16_t vendor_type) |
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{ |
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ec_ioctl_voe_t data; |
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data.config_index = voe->config->index; |
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data.voe_index = voe->index; |
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data.vendor_id = &vendor_id; |
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data.vendor_type = &vendor_type; |
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if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data) == -1) |
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fprintf(stderr, "Failed to set VoE send header: %s\n", |
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strerror(errno)); |
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} |
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/*****************************************************************************/ |
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void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe, |
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uint32_t *vendor_id, uint16_t *vendor_type) |
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{ |
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ec_ioctl_voe_t data; |
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data.config_index = voe->config->index; |
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data.voe_index = voe->index; |
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data.vendor_id = vendor_id; |
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data.vendor_type = vendor_type; |
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if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data) == -1) |
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fprintf(stderr, "Failed to get received VoE header: %s\n", |
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strerror(errno)); |
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} |
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/*****************************************************************************/ |
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uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe) |
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{ |
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return voe->data; |
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} |
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/*****************************************************************************/ |
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size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe) |
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{ |
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return voe->data_size; |
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} |
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/*****************************************************************************/ |
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void ecrt_voe_handler_read(ec_voe_handler_t *voe) |
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{ |
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ec_ioctl_voe_t data; |
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data.config_index = voe->config->index; |
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data.voe_index = voe->index; |
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if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data) == -1) |
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fprintf(stderr, "Failed to initiate VoE reading: %s\n", |
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strerror(errno)); |
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} |
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|
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/*****************************************************************************/ |
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|
1314
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void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe) |
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{ |
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ec_ioctl_voe_t data; |
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123 |
|
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data.config_index = voe->config->index; |
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125 |
data.voe_index = voe->index; |
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126 |
|
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if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data) == -1) |
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fprintf(stderr, "Failed to initiate VoE reading: %s\n", |
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129 |
strerror(errno)); |
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130 |
} |
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131 |
|
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132 |
/*****************************************************************************/ |
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133 |
|
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134 |
void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size) |
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135 |
{ |
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136 |
ec_ioctl_voe_t data; |
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137 |
|
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138 |
data.config_index = voe->config->index; |
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139 |
data.voe_index = voe->index; |
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140 |
data.size = size; |
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data.data = voe->data; |
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142 |
|
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if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1) |
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144 |
fprintf(stderr, "Failed to initiate VoE writing: %s\n", |
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|
145 |
strerror(errno)); |
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146 |
} |
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|
147 |
|
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148 |
/*****************************************************************************/ |
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|
149 |
|
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150 |
ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe) |
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151 |
{ |
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152 |
ec_ioctl_voe_t data; |
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|
153 |
|
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154 |
data.config_index = voe->config->index; |
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|
155 |
data.voe_index = voe->index; |
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|
156 |
|
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|
157 |
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data) == -1) { |
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158 |
fprintf(stderr, "Failed to execute VoE handler: %s\n", |
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|
159 |
strerror(errno)); |
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160 |
return EC_REQUEST_ERROR; |
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|
161 |
} |
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|
162 |
|
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|
163 |
if (data.size) { // new data waiting to be copied |
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164 |
if (voe->mem_size < data.size) { |
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|
165 |
if (voe->data) |
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|
166 |
free(voe->data); |
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|
167 |
voe->data = malloc(data.size); |
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|
168 |
if (!voe->data) { |
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|
169 |
voe->mem_size = 0; |
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|
170 |
fprintf(stderr, "Failed to allocate VoE data memory!"); |
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|
171 |
return EC_REQUEST_ERROR; |
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|
172 |
} |
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|
173 |
voe->mem_size = data.size; |
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|
174 |
} |
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|
175 |
|
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176 |
data.data = voe->data; |
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Fixed VoE data reading in userspace.
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177 |
|
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|
178 |
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) { |
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Fixed VoE data reading in userspace.
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|
179 |
fprintf(stderr, "Failed to get VoE data: %s\n", strerror(errno)); |
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|
180 |
return EC_REQUEST_ERROR; |
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|
181 |
} |
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|
182 |
voe->data_size = data.size; |
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|
183 |
} |
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|
184 |
|
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|
185 |
return data.state; |
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|
186 |
} |
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|
187 |
|
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|
188 |
/*****************************************************************************/ |