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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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 * Realtime 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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/*****************************************************************************/