author | Florian Pose <fp@igh-essen.com> |
Mon, 09 Jan 2012 15:17:27 +0100 | |
branch | stable-1.5 |
changeset 2230 | b368897f7995 |
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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* 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 <errno.h> |
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#include <string.h> |
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#include "sdo_request.h" |
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#include "master/ioctl.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_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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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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if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT, |
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&data) == -1) |
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fprintf(stderr, "Failed to set SDO request timeout: %s\n", |
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strerror(errno)); |
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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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data.config_index = req->config->index; |
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data.request_index = req->index; |
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if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE, |
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&data) == -1) |
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fprintf(stderr, "Failed to get SDO request state: %s\n", |
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strerror(errno)); |
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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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if (req->data) |
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free(req->data); |
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req->data = malloc(data.size); |
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if (!req->data) { |
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req->mem_size = 0; |
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fprintf(stderr, "Failed to allocate %u bytes of SDO data" |
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" memory!\n", data.size); |
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return EC_REQUEST_ERROR; |
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} |
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req->mem_size = data.size; |
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} |
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data.data = req->data; |
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if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_DATA, |
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&data) == -1) { |
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fprintf(stderr, "Failed to get SDO data: %s\n", strerror(errno)); |
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return EC_REQUEST_ERROR; |
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} |
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req->data_size = data.size; |
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} |
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return data.state; |
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} |
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/*****************************************************************************/ |
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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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data.config_index = req->config->index; |
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data.request_index = req->index; |
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if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ, |
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&data) == -1) |
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fprintf(stderr, "Failed to command an SDO read operation : %s\n", |
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strerror(errno)); |
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} |
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/*****************************************************************************/ |
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void ecrt_sdo_request_write(ec_sdo_request_t *req) |
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{ |
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ec_ioctl_sdo_request_t data; |
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data.config_index = req->config->index; |
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data.request_index = req->index; |
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data.data = req->data; |
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data.size = req->data_size; |
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if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE, |
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&data) == -1) |
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fprintf(stderr, "Failed to command an SDO write operation : %s\n", |
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strerror(errno)); |
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} |
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/*****************************************************************************/ |