TODO.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/** \file
* Vendor-specific-over-EtherCAT protocol handler functions.
*/
/*****************************************************************************/
#include <stdio.h>
#include "voe_handler.h"
#include "slave_config.h"
#include "master.h"
#include "master/ioctl.h"
/*****************************************************************************/
void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
uint16_t vendor_type)
{
ec_ioctl_voe_t data;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.vendor_id = &vendor_id;
data.vendor_type = &vendor_type;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data) == -1) {
fprintf(stderr, "Failed to set VoE send header.\n");
}
}
/*****************************************************************************/
void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
uint32_t *vendor_id, uint16_t *vendor_type)
{
ec_ioctl_voe_t data;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.vendor_id = vendor_id;
data.vendor_type = vendor_type;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data) == -1) {
fprintf(stderr, "Failed to get received VoE header.\n");
}
}
/*****************************************************************************/
uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)
{
return voe->data;
}
/*****************************************************************************/
size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)
{
return voe->data_size;
}
/*****************************************************************************/
void ecrt_voe_handler_read(ec_voe_handler_t *voe)
{
ec_ioctl_voe_t data;
data.config_index = voe->config->index;
data.voe_index = voe->index;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data) == -1) {
fprintf(stderr, "Failed to initiate VoE reading.\n");
}
}
/*****************************************************************************/
void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
{
ec_ioctl_voe_t data;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.size = size;
data.data = voe->data;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1) {
fprintf(stderr, "Failed to initiate VoE reading.\n");
}
}
/*****************************************************************************/
ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
{
ec_ioctl_voe_t data;
data.config_index = voe->config->index;
data.voe_index = voe->index;
data.size = 0;
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data) == -1) {
fprintf(stderr, "Failed to initiate VoE reading.\n");
return EC_REQUEST_ERROR;
}
if (data.size) { // new data waiting to be copied
if (voe->mem_size < data.size) {
if (voe->data)
free(voe->data);
voe->data = malloc(data.size);
if (!voe->data) {
voe->mem_size = 0;
fprintf(stderr, "Failed to allocate VoE data memory!");
return EC_REQUEST_ERROR;
}
voe->mem_size = data.size;
}
if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) {
fprintf(stderr, "Failed to get VoE data!\n");
return EC_REQUEST_ERROR;
}
voe->data_size = data.size;
}
return data.state;
}
/*****************************************************************************/