lib/voe_handler.c
author Florian Pose <fp@igh.de>
Fri, 08 Sep 2017 14:39:38 +0200
branchstable-1.5
changeset 2685 740291442c05
parent 2479 b7f84bebd965
permissions -rw-r--r--
Added clean igb driver from kernel 3.18 (no EtherCAT yet).
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
     2
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
     3
 *  $Id$
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
     4
 *
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
     5
 *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
     6
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
     7
 *  This file is part of the IgH EtherCAT master userspace library.
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
     8
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
     9
 *  The IgH EtherCAT master userspace library is free software; you can
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    10
 *  redistribute it and/or modify it under the terms of the GNU Lesser General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    11
 *  Public License as published by the Free Software Foundation; version 2.1
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    12
 *  of the License.
1287
cc7b679c74e9 Improved LGPL headers.
Florian Pose <fp@igh-essen.com>
parents: 1271
diff changeset
    13
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    14
 *  The IgH EtherCAT master userspace library is distributed in the hope that
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    15
 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    16
 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    17
 *  GNU Lesser General Public License for more details.
1287
cc7b679c74e9 Improved LGPL headers.
Florian Pose <fp@igh-essen.com>
parents: 1271
diff changeset
    18
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    19
 *  You should have received a copy of the GNU Lesser General Public License
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    20
 *  along with the IgH EtherCAT master userspace library. If not, see
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
    21
 *  <http://www.gnu.org/licenses/>.
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
    22
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
    23
 *  ---
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1959
diff changeset
    24
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
    25
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
    26
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1350
diff changeset
    27
 *  industrial property and similar rights of Beckhoff Automation GmbH.
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
 *****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
/** \file
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
    32
 * Vendor specific over EtherCAT protocol handler functions.
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
 */
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
1271
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
    37
#include <stdlib.h>
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
#include <stdio.h>
1271
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
    39
#include <string.h>
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    41
#include "ioctl.h"
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
#include "voe_handler.h"
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
#include "slave_config.h"
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
#include "master.h"
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    48
void ec_voe_handler_clear(ec_voe_handler_t *voe)
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    49
{
2430
1430a47a67dd Minor change.
Florian Pose <fp@igh-essen.com>
parents: 2429
diff changeset
    50
    if (voe->data) {
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    51
        free(voe->data);
2430
1430a47a67dd Minor change.
Florian Pose <fp@igh-essen.com>
parents: 2429
diff changeset
    52
    }
1959
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    53
}
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    54
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    55
/*****************************************************************************/
656f114153c2 Free all userspace library objects on releasing master.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
    56
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    57
void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    58
        uint16_t vendor_type)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    59
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    60
    ec_ioctl_voe_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    61
    int ret;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    62
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    63
    data.config_index = voe->config->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    64
    data.voe_index = voe->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
    data.vendor_id = &vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    66
    data.vendor_type = &vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    67
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    68
    ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    69
    if (EC_IOCTL_IS_ERROR(ret)) {
1271
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
    70
        fprintf(stderr, "Failed to set VoE send header: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    71
                strerror(EC_IOCTL_ERRNO(ret)));
2429
cc2e1cbb63b1 Minor: Line breaking.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
    72
    }
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
        uint32_t *vendor_id, uint16_t *vendor_type)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
    ec_ioctl_voe_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    81
    int ret;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    82
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    83
    data.config_index = voe->config->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
    data.voe_index = voe->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    85
    data.vendor_id = vendor_id;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    86
    data.vendor_type = vendor_type;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    87
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    88
    ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    89
    if (EC_IOCTL_IS_ERROR(ret)) {
1271
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
    90
        fprintf(stderr, "Failed to get received VoE header: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
    91
                strerror(EC_IOCTL_ERRNO(ret)));
2429
cc2e1cbb63b1 Minor: Line breaking.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
    92
    }
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    93
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    96
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    97
uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    98
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    99
    return voe->data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   100
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   101
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   102
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   103
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   104
size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   105
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   106
    return voe->data_size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   107
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   108
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   109
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   110
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   111
void ecrt_voe_handler_read(ec_voe_handler_t *voe)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   112
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   113
    ec_ioctl_voe_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   114
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   115
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   116
    data.config_index = voe->config->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   117
    data.voe_index = voe->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   118
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   119
    ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   120
    if (EC_IOCTL_IS_ERROR(ret)) {
1271
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
   121
        fprintf(stderr, "Failed to initiate VoE reading: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   122
                strerror(EC_IOCTL_ERRNO(ret)));
2429
cc2e1cbb63b1 Minor: Line breaking.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   123
    }
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   124
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   125
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   126
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   127
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   128
void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   129
{
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   130
    ec_ioctl_voe_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   131
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   132
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   133
    data.config_index = voe->config->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   134
    data.voe_index = voe->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   135
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   136
    ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   137
    if (EC_IOCTL_IS_ERROR(ret)) {
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   138
        fprintf(stderr, "Failed to initiate VoE reading: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   139
                strerror(EC_IOCTL_ERRNO(ret)));
2429
cc2e1cbb63b1 Minor: Line breaking.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   140
    }
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   141
}
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   142
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   143
/*****************************************************************************/
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1287
diff changeset
   144
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   145
void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   146
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   147
    ec_ioctl_voe_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   148
    int ret;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   149
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   150
    data.config_index = voe->config->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   151
    data.voe_index = voe->index;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   152
    data.size = size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   153
    data.data = voe->data;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   154
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   155
    ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   156
    if (EC_IOCTL_IS_ERROR(ret)) {
1271
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
   157
        fprintf(stderr, "Failed to initiate VoE writing: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   158
                strerror(EC_IOCTL_ERRNO(ret)));
2429
cc2e1cbb63b1 Minor: Line breaking.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   159
    }
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   160
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   161
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   162
/*****************************************************************************/
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   164
ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   165
{
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   166
    ec_ioctl_voe_t data;
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   167
    int ret;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   168
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   169
    data.config_index = voe->config->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   170
    data.voe_index = voe->index;
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   171
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   172
    ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   173
    if (EC_IOCTL_IS_ERROR(ret)) {
1271
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
   174
        fprintf(stderr, "Failed to execute VoE handler: %s\n",
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   175
                strerror(EC_IOCTL_ERRNO(ret)));
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   176
        return EC_REQUEST_ERROR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   177
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   178
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   179
    if (data.size) { // new data waiting to be copied
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   180
        if (voe->mem_size < data.size) {
2479
b7f84bebd965 Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   181
            fprintf(stderr, "Received %zu bytes do not fit info VoE data"
b7f84bebd965 Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 2433
diff changeset
   182
                    " memory (%zu bytes)!\n", data.size, voe->mem_size);
2432
f4313f5aba88 Do not re-allocate memory in VoE handler.
Florian Pose <fp@igh-essen.com>
parents: 2430
diff changeset
   183
            return EC_REQUEST_ERROR;
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   184
        }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
1271
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
   186
        data.data = voe->data;
19f9e9b6cf2c Fixed VoE data reading in userspace.
Florian Pose <fp@igh-essen.com>
parents: 1266
diff changeset
   187
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   188
        ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data);
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   189
        if (EC_IOCTL_IS_ERROR(ret)) {
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   190
            fprintf(stderr, "Failed to get VoE data: %s\n",
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2432
diff changeset
   191
                    strerror(EC_IOCTL_ERRNO(ret)));
1264
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   192
            return EC_REQUEST_ERROR;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
        }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   194
        voe->data_size = data.size;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   195
    }
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   197
    return data.state;
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
}
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   199
e7882f246d7a Implemented VoE handler in userspace.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   200
/*****************************************************************************/