1 /******************************************************************************

     2  *

     3  *  $Id$

     4  *

     5  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6  *

     7  *  This file is part of the IgH EtherCAT Master.

     8  *

     9  *  The IgH EtherCAT Master is free software; you can redistribute it

    10  *  and/or modify it under the terms of the GNU General Public License

    11  *  as published by the Free Software Foundation; either version 2 of the

    12  *  License, or (at your option) any later version.

    13  *

    14  *  The IgH EtherCAT Master is distributed in the hope that it will be

    15  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17  *  GNU General Public License for more details.

    18  *

    19  *  You should have received a copy of the GNU General Public License

    20  *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22  *

    23  *  The right to use EtherCAT Technology is granted and comes free of

    24  *  charge under condition of compatibility of product made by

    25  *  Licensee. People intending to distribute/sell products based on the

    26  *  code, have to sign an agreement to guarantee that products using

    27  *  software based on IgH EtherCAT master stay compatible with the actual

    28  *  EtherCAT specification (which are released themselves as an open

    29  *  standard) as the (only) precondition to have the right to use EtherCAT

    30  *  Technology, IP and trade marks.

    31  *

    32  *****************************************************************************/

    33 

    34 /** \file

    35  * Vendor-specific-over-EtherCAT protocol handler functions.

    36  */

    37 

    38 /*****************************************************************************/

    39 

    40 #include <stdio.h>

    41 

    42 #include "voe_handler.h"

    43 #include "slave_config.h"

    44 #include "master.h"

    45 #include "master/ioctl.h"

    46 

    47 /*****************************************************************************/

    48 

    49 void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,

    50         uint16_t vendor_type)

    51 {

    52     ec_ioctl_voe_t data;

    53 

    54     data.config_index = voe->config->index;

    55     data.voe_index = voe->index;

    56     data.vendor_id = &vendor_id;

    57     data.vendor_type = &vendor_type;

    58 

    59     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data) == -1) {

    60         fprintf(stderr, "Failed to set VoE send header.\n");

    61     }

    62 }

    63 

    64 /*****************************************************************************/

    65 

    66 void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,

    67         uint32_t *vendor_id, uint16_t *vendor_type)

    68 {

    69     ec_ioctl_voe_t data;

    70 

    71     data.config_index = voe->config->index;

    72     data.voe_index = voe->index;

    73     data.vendor_id = vendor_id;

    74     data.vendor_type = vendor_type;

    75 

    76     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data) == -1) {

    77         fprintf(stderr, "Failed to get received VoE header.\n");

    78     }

    79 }

    80 

    81 /*****************************************************************************/

    82 

    83 uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)

    84 {

    85     return voe->data;

    86 }

    87 

    88 /*****************************************************************************/

    89 

    90 size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)

    91 {

    92     return voe->data_size;

    93 }

    94 

    95 /*****************************************************************************/

    96 

    97 void ecrt_voe_handler_read(ec_voe_handler_t *voe)

    98 {

    99     ec_ioctl_voe_t data;

   100 

   101     data.config_index = voe->config->index;

   102     data.voe_index = voe->index;

   103 

   104     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data) == -1) {

   105         fprintf(stderr, "Failed to initiate VoE reading.\n");

   106     }

   107 }

   108 

   109 /*****************************************************************************/

   110 

   111 void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)

   112 {

   113     ec_ioctl_voe_t data;

   114 

   115     data.config_index = voe->config->index;

   116     data.voe_index = voe->index;

   117     data.size = size;

   118     data.data = voe->data;

   119 

   120     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1) {

   121         fprintf(stderr, "Failed to initiate VoE reading.\n");

   122     }

   123 }

   124 

   125 /*****************************************************************************/

   126 

   127 ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)

   128 {

   129     ec_ioctl_voe_t data;

   130 

   131     data.config_index = voe->config->index;

   132     data.voe_index = voe->index;

   133     data.size = 0;

   134 

   135     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data) == -1) {

   136         fprintf(stderr, "Failed to initiate VoE reading.\n");

   137         return EC_REQUEST_ERROR;

   138     }

   139 

   140     if (data.size) { // new data waiting to be copied

   141         if (voe->mem_size < data.size) {

   142             if (voe->data)

   143                 free(voe->data);

   144             voe->data = malloc(data.size);

   145             if (!voe->data) {

   146                 voe->mem_size = 0;

   147                 fprintf(stderr, "Failed to allocate VoE data memory!");

   148                 return EC_REQUEST_ERROR;

   149             }

   150             voe->mem_size = data.size;

   151         }

   152 

   153         if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) {

   154             fprintf(stderr, "Failed to get VoE data!\n");

   155             return EC_REQUEST_ERROR;

   156         }

   157         voe->data_size = data.size;

   158     }

   159 

   160     return data.state;

   161 }

   162 

   163 /*****************************************************************************/