fp@1264: /******************************************************************************
fp@1266:  *  
fp@1266:  * $Id$
fp@1266:  * 
fp@1266:  * Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1266:  * 
fp@1266:  * This file is part of the IgH EtherCAT master userspace library.
fp@1266:  * 
fp@1287:  * The IgH EtherCAT master userspace library is free software; you can
fp@1266:  * redistribute it and/or modify it under the terms of the GNU Lesser General
fp@1287:  * Public License as published by the Free Software Foundation; version 2.1 of
fp@1266:  * the License.
fp@1287:  *
fp@1266:  * The IgH EtherCAT master userspace library is distributed in the hope that
fp@1266:  * it will be useful, but WITHOUT ANY WARRANTY; without even the implied
fp@1266:  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1266:  * GNU Lesser General Public License for more details.
fp@1287:  *
fp@1266:  * You should have received a copy of the GNU Lesser General Public License
fp@1266:  * along with the IgH EtherCAT master userspace library. If not, see
fp@1266:  * <http://www.gnu.org/licenses/>.
fp@1266:  * 
fp@1266:  * The right to use EtherCAT Technology is granted and comes free of charge
fp@1266:  * under condition of compatibility of product made by Licensee. People
fp@1266:  * intending to distribute/sell products based on the code, have to sign an
fp@1266:  * agreement to guarantee that products using software based on IgH EtherCAT
fp@1266:  * master stay compatible with the actual EtherCAT specification (which are
fp@1266:  * released themselves as an open standard) as the (only) precondition to have
fp@1266:  * the right to use EtherCAT Technology, IP and trade marks.
fp@1264:  *
fp@1264:  *****************************************************************************/
fp@1264: 
fp@1264: /** \file
fp@1264:  * Vendor-specific-over-EtherCAT protocol handler functions.
fp@1264:  */
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1271: #include <stdlib.h>
fp@1271: #include <sys/ioctl.h>
fp@1264: #include <stdio.h>
fp@1271: #include <errno.h>
fp@1271: #include <string.h>
fp@1264: 
fp@1264: #include "voe_handler.h"
fp@1264: #include "slave_config.h"
fp@1264: #include "master.h"
fp@1264: #include "master/ioctl.h"
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1264: void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
fp@1264:         uint16_t vendor_type)
fp@1264: {
fp@1264:     ec_ioctl_voe_t data;
fp@1264: 
fp@1264:     data.config_index = voe->config->index;
fp@1264:     data.voe_index = voe->index;
fp@1264:     data.vendor_id = &vendor_id;
fp@1264:     data.vendor_type = &vendor_type;
fp@1264: 
fp@1271:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data) == -1)
fp@1271:         fprintf(stderr, "Failed to set VoE send header: %s\n",
fp@1271:                 strerror(errno));
fp@1264: }
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1264: void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
fp@1264:         uint32_t *vendor_id, uint16_t *vendor_type)
fp@1264: {
fp@1264:     ec_ioctl_voe_t data;
fp@1264: 
fp@1264:     data.config_index = voe->config->index;
fp@1264:     data.voe_index = voe->index;
fp@1264:     data.vendor_id = vendor_id;
fp@1264:     data.vendor_type = vendor_type;
fp@1264: 
fp@1271:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data) == -1)
fp@1271:         fprintf(stderr, "Failed to get received VoE header: %s\n",
fp@1271:                 strerror(errno));
fp@1264: }
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1264: uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)
fp@1264: {
fp@1264:     return voe->data;
fp@1264: }
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1264: size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)
fp@1264: {
fp@1264:     return voe->data_size;
fp@1264: }
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1264: void ecrt_voe_handler_read(ec_voe_handler_t *voe)
fp@1264: {
fp@1264:     ec_ioctl_voe_t data;
fp@1264: 
fp@1264:     data.config_index = voe->config->index;
fp@1264:     data.voe_index = voe->index;
fp@1264: 
fp@1271:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data) == -1)
fp@1271:         fprintf(stderr, "Failed to initiate VoE reading: %s\n",
fp@1271:                 strerror(errno));
fp@1264: }
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1314: void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)
fp@1314: {
fp@1314:     ec_ioctl_voe_t data;
fp@1314: 
fp@1314:     data.config_index = voe->config->index;
fp@1314:     data.voe_index = voe->index;
fp@1314: 
fp@1314:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ_NOSYNC, &data) == -1)
fp@1314:         fprintf(stderr, "Failed to initiate VoE reading: %s\n",
fp@1314:                 strerror(errno));
fp@1314: }
fp@1314: 
fp@1314: /*****************************************************************************/
fp@1314: 
fp@1264: void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
fp@1264: {
fp@1264:     ec_ioctl_voe_t data;
fp@1264: 
fp@1264:     data.config_index = voe->config->index;
fp@1264:     data.voe_index = voe->index;
fp@1264:     data.size = size;
fp@1264:     data.data = voe->data;
fp@1264: 
fp@1271:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1)
fp@1271:         fprintf(stderr, "Failed to initiate VoE writing: %s\n",
fp@1271:                 strerror(errno));
fp@1264: }
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
fp@1264: ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
fp@1264: {
fp@1264:     ec_ioctl_voe_t data;
fp@1264: 
fp@1264:     data.config_index = voe->config->index;
fp@1264:     data.voe_index = voe->index;
fp@1264:     data.size = 0;
fp@1264: 
fp@1264:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_EXEC, &data) == -1) {
fp@1271:         fprintf(stderr, "Failed to execute VoE handler: %s\n",
fp@1271:                 strerror(errno));
fp@1264:         return EC_REQUEST_ERROR;
fp@1264:     }
fp@1264: 
fp@1264:     if (data.size) { // new data waiting to be copied
fp@1264:         if (voe->mem_size < data.size) {
fp@1264:             if (voe->data)
fp@1264:                 free(voe->data);
fp@1264:             voe->data = malloc(data.size);
fp@1264:             if (!voe->data) {
fp@1264:                 voe->mem_size = 0;
fp@1264:                 fprintf(stderr, "Failed to allocate VoE data memory!");
fp@1264:                 return EC_REQUEST_ERROR;
fp@1264:             }
fp@1264:             voe->mem_size = data.size;
fp@1264:         }
fp@1264: 
fp@1271:         data.data = voe->data;
fp@1271: 
fp@1264:         if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) {
fp@1271:             fprintf(stderr, "Failed to get VoE data: %s\n", strerror(errno));
fp@1264:             return EC_REQUEST_ERROR;
fp@1264:         }
fp@1264:         voe->data_size = data.size;
fp@1264:     }
fp@1264: 
fp@1264:     return data.state;
fp@1264: }
fp@1264: 
fp@1264: /*****************************************************************************/