author | Florian Pose <fp@igh-essen.com> |
Tue, 28 Oct 2014 15:59:52 +0100 | |
branch | stable-1.5 |
changeset 2586 | 5b89b4e38cdc |
parent 2478 | 9640948881fd |
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) 2006-2012 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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|
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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 <string.h> |
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#include "ioctl.h" |
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#include "sdo_request.h" |
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#include "slave_config.h" |
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#include "master.h" |
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/*****************************************************************************/ |
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void ec_sdo_request_clear(ec_sdo_request_t *req) |
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{ |
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if (req->data) { |
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free(req->data); |
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} |
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} |
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/***************************************************************************** |
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* Application interface. |
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****************************************************************************/ |
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void ecrt_sdo_request_index(ec_sdo_request_t *req, uint16_t index, |
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uint8_t subindex) |
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{ |
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ec_ioctl_sdo_request_t data; |
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int ret; |
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data.config_index = req->config->index; |
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data.request_index = req->index; |
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data.sdo_index = index; |
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data.sdo_subindex = subindex; |
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ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_INDEX, &data); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to set SDO request index/subindex: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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} |
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} |
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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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int ret; |
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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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ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT, &data); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to set SDO request timeout: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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} |
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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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int ret; |
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data.config_index = req->config->index; |
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data.request_index = req->index; |
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ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE, &data); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to get SDO request state: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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return EC_REQUEST_ERROR; |
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} |
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|
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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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fprintf(stderr, "Received %zu bytes do not fit info SDO data" |
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" memory (%zu bytes)!\n", data.size, req->mem_size); |
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return EC_REQUEST_ERROR; |
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} |
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131 |
|
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data.data = req->data; |
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133 |
|
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ret = ioctl(req->config->master->fd, |
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EC_IOCTL_SDO_REQUEST_DATA, &data); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to get SDO data: %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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return EC_REQUEST_ERROR; |
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140 |
} |
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req->data_size = data.size; |
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142 |
} |
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143 |
|
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return data.state; |
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145 |
} |
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146 |
|
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147 |
/*****************************************************************************/ |
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148 |
|
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149 |
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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int ret; |
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|
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data.config_index = req->config->index; |
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data.request_index = req->index; |
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156 |
|
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ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ, &data); |
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if (EC_IOCTL_IS_ERROR(ret)) { |
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fprintf(stderr, "Failed to command an SDO read operation : %s\n", |
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strerror(EC_IOCTL_ERRNO(ret))); |
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161 |
} |
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162 |
} |
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163 |
|
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164 |
/*****************************************************************************/ |
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165 |
|
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166 |
void ecrt_sdo_request_write(ec_sdo_request_t *req) |
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167 |
{ |
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ec_ioctl_sdo_request_t data; |
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int ret; |
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|
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171 |
data.config_index = req->config->index; |
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data.request_index = req->index; |
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173 |
data.data = req->data; |
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174 |
data.size = req->data_size; |
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175 |
|
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ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE, &data); |
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177 |
if (EC_IOCTL_IS_ERROR(ret)) { |
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178 |
fprintf(stderr, "Failed to command an SDO write operation : %s\n", |
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179 |
strerror(EC_IOCTL_ERRNO(ret))); |
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180 |
} |
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181 |
} |
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182 |
|
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183 |
/*****************************************************************************/ |