lib/voe_handler.c
author Martin Troxler <ch1010277@ch10lt194>
Mon, 14 Mar 2011 16:57:47 +0100
changeset 2046 4cf0161c445a
parent 1959 656f114153c2
child 2421 bc2d4bf9cbe5
child 2589 2b9c78543663
permissions -rw-r--r--
merged
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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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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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    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_NOSYNC, &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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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 writing: %s\n",
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                strerror(errno));
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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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    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_EXEC, &data) == -1) {
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        fprintf(stderr, "Failed to execute VoE handler: %s\n",
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                strerror(errno));
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        return EC_REQUEST_ERROR;
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    }
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    if (data.size) { // new data waiting to be copied
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        if (voe->mem_size < data.size) {
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            if (voe->data)
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                free(voe->data);
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            voe->data = malloc(data.size);
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            if (!voe->data) {
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                voe->mem_size = 0;
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                fprintf(stderr, "Failed to allocate VoE data memory!");
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                return EC_REQUEST_ERROR;
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            }
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            voe->mem_size = data.size;
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        }
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        data.data = voe->data;
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        if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) {
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            fprintf(stderr, "Failed to get VoE data: %s\n", strerror(errno));
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            return EC_REQUEST_ERROR;
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        }
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        voe->data_size = data.size;
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    }
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    return data.state;
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}
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/*****************************************************************************/