author | Florian Pose <fp@igh-essen.com> |
Tue, 14 Oct 2008 14:00:43 +0000 | |
changeset 1265 | 2a3420989cdb |
parent 1264 | e7882f246d7a |
child 1266 | dd1f501c4070 |
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 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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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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/*****************************************************************************/ |
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#include <stdio.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 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.\n"); |
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} |
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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.\n"); |
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} |
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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.\n"); |
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} |
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} |
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/*****************************************************************************/ |
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void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size) |
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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.size = size; |
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data.data = voe->data; |
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if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1) { |
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fprintf(stderr, "Failed to initiate VoE reading.\n"); |
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} |
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} |
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/*****************************************************************************/ |
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ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe) |
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{ |
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ec_ioctl_voe_t data; |
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130 |
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data.config_index = voe->config->index; |
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data.voe_index = voe->index; |
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133 |
data.size = 0; |
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134 |
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135 |
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data) == -1) { |
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fprintf(stderr, "Failed to initiate VoE reading.\n"); |
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137 |
return EC_REQUEST_ERROR; |
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138 |
} |
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139 |
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140 |
if (data.size) { // new data waiting to be copied |
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141 |
if (voe->mem_size < data.size) { |
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142 |
if (voe->data) |
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143 |
free(voe->data); |
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voe->data = malloc(data.size); |
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145 |
if (!voe->data) { |
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146 |
voe->mem_size = 0; |
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fprintf(stderr, "Failed to allocate VoE data memory!"); |
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148 |
return EC_REQUEST_ERROR; |
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149 |
} |
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150 |
voe->mem_size = data.size; |
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151 |
} |
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152 |
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153 |
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) { |
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154 |
fprintf(stderr, "Failed to get VoE data!\n"); |
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155 |
return EC_REQUEST_ERROR; |
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156 |
} |
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157 |
voe->data_size = data.size; |
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158 |
} |
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159 |
|
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160 |
return data.state; |
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161 |
} |
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162 |
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163 |
/*****************************************************************************/ |