Mercurial Mercurial > etherlabmaster / comparison
summary | shortlog | changelog | graph | tags | bookmarks | branches | files | changeset | file | latest | revisions | annotate | diff | comparison | raw | help
lib/voe_handler.c
changeset 2589 2b9c78543663
parent 1959 656f114153c2
equal deleted inserted replaced
2415:af21f0bdc7c9 2589:2b9c78543663 
     1 /******************************************************************************
 
     1 /******************************************************************************
 
     2  *  
     2  *
 
     3  *  $Id$
 
     3  *  $Id$
 
     4  * 
     4  *
 
     5  *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
 
     5  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
 
     6  *  
     6  *
 
     7  *  This file is part of the IgH EtherCAT master userspace library.
 
     7  *  This file is part of the IgH EtherCAT master userspace library.
 
     8  *  
     8  *
 
     9  *  The IgH EtherCAT master userspace library is free software; you can
 
     9  *  The IgH EtherCAT master userspace library is free software; you can
 
    10  *  redistribute it and/or modify it under the terms of the GNU Lesser General
 
    10  *  redistribute it and/or modify it under the terms of the GNU Lesser General
 
    11  *  Public License as published by the Free Software Foundation; version 2.1
 
    11  *  Public License as published by the Free Software Foundation; version 2.1
 
    12  *  of the License.
 
    12  *  of the License.
 
    13  *
 
    13  *
 
    17  *  GNU Lesser General Public License for more details.
 
    17  *  GNU Lesser General Public License for more details.
 
    18  *
 
    18  *
 
    19  *  You should have received a copy of the GNU Lesser General Public License
 
    19  *  You should have received a copy of the GNU Lesser General Public License
 
    20  *  along with the IgH EtherCAT master userspace library. If not, see
 
    20  *  along with the IgH EtherCAT master userspace library. If not, see
 
    21  *  <http://www.gnu.org/licenses/>.
 
    21  *  <http://www.gnu.org/licenses/>.
 
    22  *  
    22  *
 
    23  *  ---
 
    23  *  ---
 
    24  *  
    24  *
 
    25  *  The license mentioned above concerns the source code only. Using the
 
    25  *  The license mentioned above concerns the source code only. Using the
 
    26  *  EtherCAT technology and brand is only permitted in compliance with the
 
    26  *  EtherCAT technology and brand is only permitted in compliance with the
 
    27  *  industrial property and similar rights of Beckhoff Automation GmbH.
 
    27  *  industrial property and similar rights of Beckhoff Automation GmbH.
 
    28  *
 
    28  *
 
    29  *****************************************************************************/
 
    29  *****************************************************************************/
 
    33  */
 
    33  */
 
    34 
    34 
    35 /*****************************************************************************/
 
    35 /*****************************************************************************/
 
    36 
    36 
    37 #include <stdlib.h>
 
    37 #include <stdlib.h>
 
    38 #include <sys/ioctl.h>
 
       
    39 #include <stdio.h>
 
    38 #include <stdio.h>
 
    40 #include <errno.h>
 
       
    41 #include <string.h>
 
    39 #include <string.h>
 
    42 
    40 
       
    41 #include "ioctl.h"
 
    43 #include "voe_handler.h"
 
    42 #include "voe_handler.h"
 
    44 #include "slave_config.h"
 
    43 #include "slave_config.h"
 
    45 #include "master.h"
 
    44 #include "master.h"
 
    46 #include "master/ioctl.h"
 
       
    47 
    45 
    48 /*****************************************************************************/
 
    46 /*****************************************************************************/
 
    49 
    47 
    50 void ec_voe_handler_clear(ec_voe_handler_t *voe)
 
    48 void ec_voe_handler_clear(ec_voe_handler_t *voe)
 
    51 {
 
    49 {
 
    52     if (voe->data)
 
    50     if (voe->data) {
 
    53         free(voe->data);
 
    51         free(voe->data);
 
       
    52     }
 
    54 }
 
    53 }
 
    55 
    54 
    56 /*****************************************************************************/
 
    55 /*****************************************************************************/
 
    57 
    56 
    58 void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
 
    57 void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
 
    59         uint16_t vendor_type)
 
    58         uint16_t vendor_type)
 
    60 {
 
    59 {
 
    61     ec_ioctl_voe_t data;
 
    60     ec_ioctl_voe_t data;
 
       
    61     int ret;
 
    62 
    62 
    63     data.config_index = voe->config->index;
 
    63     data.config_index = voe->config->index;
 
    64     data.voe_index = voe->index;
 
    64     data.voe_index = voe->index;
 
    65     data.vendor_id = &vendor_id;
 
    65     data.vendor_id = &vendor_id;
 
    66     data.vendor_type = &vendor_type;
 
    66     data.vendor_type = &vendor_type;
 
    67 
    67 
    68     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data) == -1)
 
    68     ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data);
 
       
    69     if (EC_IOCTL_IS_ERROR(ret)) {
 
    69         fprintf(stderr, "Failed to set VoE send header: %s\n",
 
    70         fprintf(stderr, "Failed to set VoE send header: %s\n",
 
    70                 strerror(errno));
 
    71                 strerror(EC_IOCTL_ERRNO(ret)));
 
       
    72     }
 
    71 }
 
    73 }
 
    72 
    74 
    73 /*****************************************************************************/
 
    75 /*****************************************************************************/
 
    74 
    76 
    75 void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
 
    77 void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
 
    76         uint32_t *vendor_id, uint16_t *vendor_type)
 
    78         uint32_t *vendor_id, uint16_t *vendor_type)
 
    77 {
 
    79 {
 
    78     ec_ioctl_voe_t data;
 
    80     ec_ioctl_voe_t data;
 
       
    81     int ret;
 
    79 
    82 
    80     data.config_index = voe->config->index;
 
    83     data.config_index = voe->config->index;
 
    81     data.voe_index = voe->index;
 
    84     data.voe_index = voe->index;
 
    82     data.vendor_id = vendor_id;
 
    85     data.vendor_id = vendor_id;
 
    83     data.vendor_type = vendor_type;
 
    86     data.vendor_type = vendor_type;
 
    84 
    87 
    85     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data) == -1)
 
    88     ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data);
 
       
    89     if (EC_IOCTL_IS_ERROR(ret)) {
 
    86         fprintf(stderr, "Failed to get received VoE header: %s\n",
 
    90         fprintf(stderr, "Failed to get received VoE header: %s\n",
 
    87                 strerror(errno));
 
    91                 strerror(EC_IOCTL_ERRNO(ret)));
 
       
    92     }
 
    88 }
 
    93 }
 
    89 
    94 
    90 /*****************************************************************************/
 
    95 /*****************************************************************************/
 
    91 
    96 
    92 uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)
 
    97 uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)
 
   104 /*****************************************************************************/
 
   109 /*****************************************************************************/
 
   105 
   110 
   106 void ecrt_voe_handler_read(ec_voe_handler_t *voe)
 
   111 void ecrt_voe_handler_read(ec_voe_handler_t *voe)
 
   107 {
 
   112 {
 
   108     ec_ioctl_voe_t data;
 
   113     ec_ioctl_voe_t data;
 
   109 
   114     int ret;
 
   110     data.config_index = voe->config->index;
 
   115 
   111     data.voe_index = voe->index;
 
   116     data.config_index = voe->config->index;
 
   112 
   117     data.voe_index = voe->index;
 
   113     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data) == -1)
 
   118 
       
   119     ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data);
 
       
   120     if (EC_IOCTL_IS_ERROR(ret)) {
 
   114         fprintf(stderr, "Failed to initiate VoE reading: %s\n",
 
   121         fprintf(stderr, "Failed to initiate VoE reading: %s\n",
 
   115                 strerror(errno));
 
   122                 strerror(EC_IOCTL_ERRNO(ret)));
 
       
   123     }
 
   116 }
 
   124 }
 
   117 
   125 
   118 /*****************************************************************************/
 
   126 /*****************************************************************************/
 
   119 
   127 
   120 void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)
 
   128 void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)
 
   121 {
 
   129 {
 
   122     ec_ioctl_voe_t data;
 
   130     ec_ioctl_voe_t data;
 
   123 
   131     int ret;
 
   124     data.config_index = voe->config->index;
 
   132 
   125     data.voe_index = voe->index;
 
   133     data.config_index = voe->config->index;
 
   126 
   134     data.voe_index = voe->index;
 
   127     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data) == -1)
 
   135 
       
   136     ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data);
 
       
   137     if (EC_IOCTL_IS_ERROR(ret)) {
 
   128         fprintf(stderr, "Failed to initiate VoE reading: %s\n",
 
   138         fprintf(stderr, "Failed to initiate VoE reading: %s\n",
 
   129                 strerror(errno));
 
   139                 strerror(EC_IOCTL_ERRNO(ret)));
 
       
   140     }
 
   130 }
 
   141 }
 
   131 
   142 
   132 /*****************************************************************************/
 
   143 /*****************************************************************************/
 
   133 
   144 
   134 void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
 
   145 void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
 
   135 {
 
   146 {
 
   136     ec_ioctl_voe_t data;
 
   147     ec_ioctl_voe_t data;
 
       
   148     int ret;
 
   137 
   149 
   138     data.config_index = voe->config->index;
 
   150     data.config_index = voe->config->index;
 
   139     data.voe_index = voe->index;
 
   151     data.voe_index = voe->index;
 
   140     data.size = size;
 
   152     data.size = size;
 
   141     data.data = voe->data;
 
   153     data.data = voe->data;
 
   142 
   154 
   143     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1)
 
   155     ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data);
 
       
   156     if (EC_IOCTL_IS_ERROR(ret)) {
 
   144         fprintf(stderr, "Failed to initiate VoE writing: %s\n",
 
   157         fprintf(stderr, "Failed to initiate VoE writing: %s\n",
 
   145                 strerror(errno));
 
   158                 strerror(EC_IOCTL_ERRNO(ret)));
 
       
   159     }
 
   146 }
 
   160 }
 
   147 
   161 
   148 /*****************************************************************************/
 
   162 /*****************************************************************************/
 
   149 
   163 
   150 ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
 
   164 ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
 
   151 {
 
   165 {
 
   152     ec_ioctl_voe_t data;
 
   166     ec_ioctl_voe_t data;
 
   153 
   167     int ret;
 
   154     data.config_index = voe->config->index;
 
   168 
   155     data.voe_index = voe->index;
 
   169     data.config_index = voe->config->index;
 
   156 
   170     data.voe_index = voe->index;
 
   157     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data) == -1) {
 
   171 
       
   172     ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data);
 
       
   173     if (EC_IOCTL_IS_ERROR(ret)) {
 
   158         fprintf(stderr, "Failed to execute VoE handler: %s\n",
 
   174         fprintf(stderr, "Failed to execute VoE handler: %s\n",
 
   159                 strerror(errno));
 
   175                 strerror(EC_IOCTL_ERRNO(ret)));
 
   160         return EC_REQUEST_ERROR;
 
   176         return EC_REQUEST_ERROR;
 
   161     }
 
   177     }
 
   162 
   178 
   163     if (data.size) { // new data waiting to be copied
 
   179     if (data.size) { // new data waiting to be copied
 
   164         if (voe->mem_size < data.size) {
 
   180         if (voe->mem_size < data.size) {
 
   165             if (voe->data)
 
   181             fprintf(stderr, "Received %zu bytes do not fit info VoE data"
 
   166                 free(voe->data);
 
   182                     " memory (%zu bytes)!\n", data.size, voe->mem_size);
 
   167             voe->data = malloc(data.size);
 
   183             return EC_REQUEST_ERROR;
 
   168             if (!voe->data) {
 
       
   169                 voe->mem_size = 0;
 
       
   170                 fprintf(stderr, "Failed to allocate VoE data memory!");
 
       
   171                 return EC_REQUEST_ERROR;
 
       
   172             }
 
       
   173             voe->mem_size = data.size;
 
       
   174         }
 
   184         }
 
   175 
   185 
   176         data.data = voe->data;
 
   186         data.data = voe->data;
 
   177 
   187 
   178         if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) {
 
   188         ret = ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data);
 
   179             fprintf(stderr, "Failed to get VoE data: %s\n", strerror(errno));
 
   189         if (EC_IOCTL_IS_ERROR(ret)) {
 
       
   190             fprintf(stderr, "Failed to get VoE data: %s\n",
 
       
   191                     strerror(EC_IOCTL_ERRNO(ret)));
 
   180             return EC_REQUEST_ERROR;
 
   192             return EC_REQUEST_ERROR;
 
   181         }
 
   193         }
 
   182         voe->data_size = data.size;
 
   194         voe->data_size = data.size;
 
   183     }
 
   195     }
 
   184 
   196
etherlabmaster