Added all drivers for kernel 3.12.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2012 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
*
* The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
* Canopen over EtherCAT SDO request functions.
*/
/*****************************************************************************/
#include <stdio.h>
#include <string.h>
#include "ioctl.h"
#include "sdo_request.h"
#include "slave_config.h"
#include "master.h"
/*****************************************************************************/
void ec_sdo_request_clear(ec_sdo_request_t *req)
{
if (req->data) {
free(req->data);
}
}
/*****************************************************************************
* Application interface.
****************************************************************************/
void ecrt_sdo_request_index(ec_sdo_request_t *req, uint16_t index,
uint8_t subindex)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
data.sdo_index = index;
data.sdo_subindex = subindex;
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_INDEX, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to set SDO request index/subindex: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
data.timeout = timeout;
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to set SDO request timeout: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
{
return req->data;
}
/*****************************************************************************/
size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
{
return req->data_size;
}
/*****************************************************************************/
ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get SDO request state: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
if (data.size) { // new data waiting to be copied
if (req->mem_size < data.size) {
fprintf(stderr, "Received %zu bytes do not fit info SDO data"
" memory (%zu bytes)!\n", data.size, req->mem_size);
return EC_REQUEST_ERROR;
}
data.data = req->data;
ret = ioctl(req->config->master->fd,
EC_IOCTL_SDO_REQUEST_DATA, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to get SDO data: %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
return EC_REQUEST_ERROR;
}
req->data_size = data.size;
}
return data.state;
}
/*****************************************************************************/
void ecrt_sdo_request_read(ec_sdo_request_t *req)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to command an SDO read operation : %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/
void ecrt_sdo_request_write(ec_sdo_request_t *req)
{
ec_ioctl_sdo_request_t data;
int ret;
data.config_index = req->config->index;
data.request_index = req->index;
data.data = req->data;
data.size = req->data_size;
ret = ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE, &data);
if (EC_IOCTL_IS_ERROR(ret)) {
fprintf(stderr, "Failed to command an SDO write operation : %s\n",
strerror(EC_IOCTL_ERRNO(ret)));
}
}
/*****************************************************************************/