ethercat/lib/voe_handler.c

/******************************************************************************
 *
 *  $Id$
 *
 *  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;
}

/*****************************************************************************/