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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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 *  Using the EtherCAT technology and brand is permitted in compliance with

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 *  the 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 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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    data.size = 0;

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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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/*****************************************************************************/