fp@1264: /******************************************************************************
fp@1264:  *
fp@1264:  *  $Id$
fp@1264:  *
fp@1264:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1264:  *
fp@1264:  *  This file is part of the IgH EtherCAT Master.
fp@1264:  *
fp@1264:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1264:  *  and/or modify it under the terms of the GNU General Public License
fp@1264:  *  as published by the Free Software Foundation; either version 2 of the
fp@1264:  *  License, or (at your option) any later version.
fp@1264:  *
fp@1264:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1264:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1264:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1264:  *  GNU General Public License for more details.
fp@1264:  *
fp@1264:  *  You should have received a copy of the GNU General Public License
fp@1264:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1264:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1264:  *
fp@1264:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1264:  *  charge under condition of compatibility of product made by
fp@1264:  *  Licensee. People intending to distribute/sell products based on the
fp@1264:  *  code, have to sign an agreement to guarantee that products using
fp@1264:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1264:  *  EtherCAT specification (which are released themselves as an open
fp@1264:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1264:  *  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@1264: #include <stdio.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@1264:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_SEND_HEADER, &data) == -1) {
fp@1264:         fprintf(stderr, "Failed to set VoE send header.\n");
fp@1264:     }
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@1264:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_REC_HEADER, &data) == -1) {
fp@1264:         fprintf(stderr, "Failed to get received VoE header.\n");
fp@1264:     }
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@1264:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_READ, &data) == -1) {
fp@1264:         fprintf(stderr, "Failed to initiate VoE reading.\n");
fp@1264:     }
fp@1264: }
fp@1264: 
fp@1264: /*****************************************************************************/
fp@1264: 
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@1264:     if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_WRITE, &data) == -1) {
fp@1264:         fprintf(stderr, "Failed to initiate VoE reading.\n");
fp@1264:     }
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@1264:         fprintf(stderr, "Failed to initiate VoE reading.\n");
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@1264:         if (ioctl(voe->config->master->fd, EC_IOCTL_VOE_DATA, &data) == -1) {
fp@1264:             fprintf(stderr, "Failed to get VoE data!\n");
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: /*****************************************************************************/