master/soe_request.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Wed, 23 Apr 2014 17:06:15 +0200
branchstable-1.5
changeset 2555 18c226b66533
parent 2522 ec403cf308eb
permissions -rw-r--r--
replace symlink in example with the real file
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 * Sercos-over-EtherCAT request functions.
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 */
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/*****************************************************************************/
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#include <linux/module.h>
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#include <linux/jiffies.h>
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#include <linux/slab.h>
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#include "soe_request.h"
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/*****************************************************************************/
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/** Default timeout in ms to wait for SoE responses.
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 */
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#define EC_SOE_REQUEST_RESPONSE_TIMEOUT 1000
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/*****************************************************************************/
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void ec_soe_request_clear_data(ec_soe_request_t *);
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/*****************************************************************************/
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/** SoE request constructor.
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 */
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void ec_soe_request_init(
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        ec_soe_request_t *req /**< SoE request. */
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        )
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{
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    INIT_LIST_HEAD(&req->list);
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    req->drive_no = 0x00;
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    req->idn = 0x0000;
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    req->al_state = EC_AL_STATE_INIT;
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    req->data = NULL;
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    req->mem_size = 0;
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    req->data_size = 0;
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    req->dir = EC_DIR_INVALID;
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    req->state = EC_INT_REQUEST_INIT;
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    req->jiffies_sent = 0U;
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    req->error_code = 0x0000;
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}
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/*****************************************************************************/
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/** SoE request destructor.
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 */
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void ec_soe_request_clear(
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        ec_soe_request_t *req /**< SoE request. */
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        )
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{
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    ec_soe_request_clear_data(req);
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}
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/*****************************************************************************/
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/** Copy another SoE request.
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 *
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 * \return Zero on success, otherwise a negative error code.
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 */
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int ec_soe_request_copy(
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        ec_soe_request_t *req, /**< SoE request. */
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        const ec_soe_request_t *other /**< Other SoE request to copy from. */
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        )
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{
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    req->drive_no = other->drive_no;
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    req->idn = other->idn;
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    req->al_state = other->al_state;
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    return ec_soe_request_copy_data(req, other->data, other->data_size);
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}
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/*****************************************************************************/
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/** Set drive number.
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 */
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void ec_soe_request_set_drive_no(
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        ec_soe_request_t *req, /**< SoE request. */
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        uint8_t drive_no /** Drive Number. */
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        )
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{
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    req->drive_no = drive_no;
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}
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/*****************************************************************************/
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/** Set IDN.
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 */
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void ec_soe_request_set_idn(
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        ec_soe_request_t *req, /**< SoE request. */
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        uint16_t idn /** IDN. */
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        )
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{
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    req->idn = idn;
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}
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/*****************************************************************************/
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/** Free allocated memory.
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 */
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void ec_soe_request_clear_data(
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        ec_soe_request_t *req /**< SoE request. */
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        )
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{
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    if (req->data) {
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        kfree(req->data);
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        req->data = NULL;
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    }
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    req->mem_size = 0;
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    req->data_size = 0;
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}
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/*****************************************************************************/
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/** Pre-allocates the data memory.
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 *
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 * If the \a mem_size is already bigger than \a size, nothing is done.
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 *
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 * \return 0 on success, otherwise -ENOMEM.
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 */
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int ec_soe_request_alloc(
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        ec_soe_request_t *req, /**< SoE request. */
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        size_t size /**< Data size to allocate. */
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        )
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{
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    if (size <= req->mem_size)
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        return 0;
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    ec_soe_request_clear_data(req);
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    if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
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        EC_ERR("Failed to allocate %zu bytes of SoE memory.\n", size);
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        return -ENOMEM;
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    }
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    req->mem_size = size;
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    req->data_size = 0;
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    return 0;
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}
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/*****************************************************************************/
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/** Copies SoE data from an external source.
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 *
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 * If the \a mem_size is to small, new memory is allocated.
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 *
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 * \retval  0 Success.
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 * \retval <0 Error code.
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 */
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int ec_soe_request_copy_data(
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        ec_soe_request_t *req, /**< SoE request. */
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        const uint8_t *source, /**< Source data. */
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        size_t size /**< Number of bytes in \a source. */
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        )
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{
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    int ret = ec_soe_request_alloc(req, size);
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    if (ret < 0)
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        return ret;
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    memcpy(req->data, source, size);
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    req->data_size = size;
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    return 0;
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}
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/*****************************************************************************/
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1864
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/** Copies SoE data from an external source.
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 *
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 * If the \a mem_size is to small, new memory is allocated.
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 *
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 * \retval  0 Success.
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 * \retval <0 Error code.
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 */
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int ec_soe_request_append_data(
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        ec_soe_request_t *req, /**< SoE request. */
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        const uint8_t *source, /**< Source data. */
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        size_t size /**< Number of bytes in \a source. */
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        )
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{
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   209
    if (req->data_size + size > req->mem_size) {
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        size_t new_size = req->mem_size ? req->mem_size * 2 : size;
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        uint8_t *new_data = (uint8_t *) kmalloc(new_size, GFP_KERNEL);
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   212
        if (!new_data) {
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            EC_ERR("Failed to allocate %zu bytes of SoE memory.\n",
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   214
                    new_size);
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   215
            return -ENOMEM;
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   216
        }
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   217
        memcpy(new_data, req->data, req->data_size);
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   218
        kfree(req->data);
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   219
        req->data = new_data;
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        req->mem_size = new_size;
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   221
    }
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    memcpy(req->data + req->data_size, source, size);
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   224
    req->data_size += size;
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    return 0;
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   226
}
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/*****************************************************************************/
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   229
1907
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/** Request a read operation.
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   231
 */
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   232
void ec_soe_request_read(
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        ec_soe_request_t *req /**< SoE request. */
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   234
       )
1831
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{
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    req->dir = EC_DIR_INPUT;
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    req->state = EC_INT_REQUEST_QUEUED;
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   238
    req->error_code = 0x0000;
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   239
}
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   241
/*****************************************************************************/
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1907
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   243
/** Request a write operation.
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   244
 */
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   245
void ec_soe_request_write(
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   246
        ec_soe_request_t *req /**< SoE request. */
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   247
        )
1831
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{
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   249
    req->dir = EC_DIR_OUTPUT;
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   250
    req->state = EC_INT_REQUEST_QUEUED;
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   251
    req->error_code = 0x0000;
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diff changeset
   252
}
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/*****************************************************************************/