master/canopen.c
author Florian Pose <fp@igh-essen.com>
Fri, 27 Oct 2006 09:29:46 +0000
changeset 449 3caf8ff4d8a2
parent 448 e4b76dc7910c
child 484 9fde4a17b820
permissions -rw-r--r--
Moved functionality of ecrt_master_deactivate() (now deprecated) to ecrt_master_release().
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   Canopen-over-EtherCAT functions.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include "canopen.h"
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#include "master.h"
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/*****************************************************************************/
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ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
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                                    char *);
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void ec_sdo_clear(struct kobject *);
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void ec_sdo_entry_clear(struct kobject *);
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void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_t *,
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                              ec_sdo_entry_t *);
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void ec_sdo_request_clear(ec_sdo_request_t *);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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EC_SYSFS_READ_ATTR(value);
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static struct attribute *sdo_def_attrs[] = {
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    &attr_info,
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    NULL,
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};
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static struct sysfs_ops sdo_sysfs_ops = {
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    .show = &ec_show_sdo_attribute,
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    .store = NULL
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};
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static struct kobj_type ktype_ec_sdo = {
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    .release = ec_sdo_clear,
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    .sysfs_ops = &sdo_sysfs_ops,
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    .default_attrs = sdo_def_attrs
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};
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static struct attribute *sdo_entry_def_attrs[] = {
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    &attr_info,
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    &attr_value,
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    NULL,
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};
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static struct sysfs_ops sdo_entry_sysfs_ops = {
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    .show = &ec_show_sdo_entry_attribute,
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    .store = NULL
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};
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static struct kobj_type ktype_ec_sdo_entry = {
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    .release = ec_sdo_entry_clear,
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    .sysfs_ops = &sdo_entry_sysfs_ops,
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    .default_attrs = sdo_entry_def_attrs
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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   SDO constructor.
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*/
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int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */
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                uint16_t index, /**< SDO index */
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                ec_slave_t *slave /**< parent slave */
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                )
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{
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    sdo->slave = slave;
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    sdo->index = index;
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    sdo->object_code = 0x00;
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    sdo->name = NULL;
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    sdo->subindices = 0;
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    INIT_LIST_HEAD(&sdo->entries);
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    // init kobject and add it to the hierarchy
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    memset(&sdo->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&sdo->kobj);
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    sdo->kobj.ktype = &ktype_ec_sdo;
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    sdo->kobj.parent = &slave->sdo_kobj;
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    if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {
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        EC_ERR("Failed to set kobj name.\n");
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   SDO destructor.
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   Clears and frees an SDO object.
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*/
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void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)
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{
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    ec_sdo_entry_t *entry, *next;
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    // free all entries
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    list_for_each_entry_safe(entry, next, &sdo->entries, list) {
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        list_del(&entry->list);
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        ec_sdo_entry_destroy(entry);
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    }
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    // destroy self
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    kobject_del(&sdo->kobj);
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    kobject_put(&sdo->kobj);
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}
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/*****************************************************************************/
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/**
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   Clear and free SDO.
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   This method is called by the kobject,
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   once there are no more references to it.
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*/
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void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
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{
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    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
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    if (sdo->name) kfree(sdo->name);
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    kfree(sdo);
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}
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/*****************************************************************************/
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ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
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                    char *buffer /**< target buffer */
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                    )
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{
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    off_t off = 0;
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    off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);
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    off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");
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    off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);
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    return off;
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}
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/*****************************************************************************/
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ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
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                              struct attribute *attr,
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                              char *buffer
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                              )
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{
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    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
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    if (attr == &attr_info) {
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        return ec_sdo_info(sdo, buffer);
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   SDO entry constructor.
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*/
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int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */
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                      uint8_t subindex, /**< SDO entry subindex */
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                      ec_sdo_t *sdo /**< parent SDO */
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                      )
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{
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    entry->sdo = sdo;
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    entry->subindex = subindex;
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    entry->data_type = 0x0000;
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    entry->bit_length = 0;
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    entry->description = NULL;
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    // init kobject and add it to the hierarchy
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    memset(&entry->kobj, 0x00, sizeof(struct kobject));
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    kobject_init(&entry->kobj);
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    entry->kobj.ktype = &ktype_ec_sdo_entry;
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    entry->kobj.parent = &sdo->kobj;
419
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    if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {
409
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        EC_ERR("Failed to set kobj name.\n");
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
448
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   SDO entry destructor.
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   Clears and frees an SDO entry object.
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*/
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void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)
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{
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    // destroy self
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    kobject_del(&entry->kobj);
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    kobject_put(&entry->kobj);
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}
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/*****************************************************************************/
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/**
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   Clear and free SDO entry.
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   This method is called by the kobject,
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   once there are no more references to it.
409
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*/
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void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)
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{
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    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
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    if (entry->description) kfree(entry->description);
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    kfree(entry);
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}
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/*****************************************************************************/
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ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
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                          char *buffer /**< target buffer */
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                          )
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{
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    off_t off = 0;
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    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);
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    off += sprintf(buffer + off, "Description: %s\n",
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                   entry->description ? entry->description : "");
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    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);
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    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);
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    return off;
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}
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/*****************************************************************************/
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430
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ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */
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                                 ec_sdo_request_t *request, /**< SDO request */
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                                 char *buffer /**< target buffer */
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                                 )
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{
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    off_t off = 0;
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    unsigned int i;
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   289
    if (entry->data_type == 0x0002 && entry->bit_length == 8) { // int8
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        off += sprintf(buffer + off, "%i\n", *((int8_t *) request->data));
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   291
    }
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   292
    else if (entry->data_type == 0x0003 && entry->bit_length == 16) { // int16
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   293
        off += sprintf(buffer + off, "%i\n", *((int16_t *) request->data));
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   294
    }
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   295
    else if (entry->data_type == 0x0004 && entry->bit_length == 32) { // int32
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   296
        off += sprintf(buffer + off, "%i\n", *((int32_t *) request->data));
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   297
    }
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   298
    else if (entry->data_type == 0x0005 && entry->bit_length == 8) { // uint8
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   299
        off += sprintf(buffer + off, "%i\n", *((uint8_t *) request->data));
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   300
    }
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   301
    else if (entry->data_type == 0x0006 && entry->bit_length == 16) { // uint16
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   302
        off += sprintf(buffer + off, "%i\n", *((uint16_t *) request->data));
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diff changeset
   303
    }
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   304
    else if (entry->data_type == 0x0007 && entry->bit_length == 32) { // uint32
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diff changeset
   305
        off += sprintf(buffer + off, "%i\n", *((uint32_t *) request->data));
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diff changeset
   306
    }
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   307
    else if (entry->data_type == 0x0009) { // string
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diff changeset
   308
        off += sprintf(buffer + off, "%s\n", request->data);
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diff changeset
   309
    }
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   310
    else {
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   311
        for (i = 0; i < request->size; i++)
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   312
            off += sprintf(buffer + off, "%02X (%c)\n",
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   313
                           request->data[i], request->data[i]);
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diff changeset
   314
    }
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diff changeset
   315
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   316
    return off;
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diff changeset
   317
}
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   318
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   319
/*****************************************************************************/
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   320
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   321
ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
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   322
                                char *buffer /**< target buffer */
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diff changeset
   323
                                )
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diff changeset
   324
{
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   325
    ec_sdo_t *sdo = entry->sdo;
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   326
    ec_master_t *master = sdo->slave->master;
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   327
    off_t off = 0;
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   328
    ec_sdo_request_t request;
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diff changeset
   329
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   330
    if (down_interruptible(&master->sdo_sem)) {
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diff changeset
   331
        // interrupted by signal
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   332
        return -ERESTARTSYS;
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diff changeset
   333
    }
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diff changeset
   334
430
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   335
    ec_sdo_request_init_read(&request, sdo, entry);
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   336
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   337
    // this is necessary, because the completion object
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   338
    // is completed by the ec_master_flush_sdo_requests() function.
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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parents: 430
diff changeset
   339
    INIT_COMPLETION(master->sdo_complete);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   340
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   341
    master->sdo_request = &request;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   342
    master->sdo_seq_user++;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   343
    master->sdo_timer.expires = jiffies + 10;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   344
    add_timer(&master->sdo_timer);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   345
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   346
    wait_for_completion(&master->sdo_complete);
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   347
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   348
    master->sdo_request = NULL;
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   349
    up(&master->sdo_sem);
430
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   350
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diff changeset
   351
    if (request.return_code == 1 && request.data) {
74754f45d5fa Implemented SDO reading via Sysfs.
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parents: 419
diff changeset
   352
        off += ec_sdo_entry_format_data(entry, &request, buffer);
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   353
    }
441
ffa13db95e10 SDO uploading via Sysfs without master FSM calling wake_up().
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diff changeset
   354
    else {
430
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   355
        off = -EINVAL;
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   356
    }
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   357
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   358
    ec_sdo_request_clear(&request);
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   359
    return off;
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   360
}
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diff changeset
   361
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diff changeset
   362
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
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diff changeset
   363
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
                                    struct attribute *attr,
bc4c852e1b93 Implemented fetching of SDO dictionary.
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parents:
diff changeset
   366
                                    char *buffer
bc4c852e1b93 Implemented fetching of SDO dictionary.
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diff changeset
   367
                                    )
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
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diff changeset
   368
{
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
bc4c852e1b93 Implemented fetching of SDO dictionary.
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parents:
diff changeset
   370
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
    if (attr == &attr_info) {
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
        return ec_sdo_entry_info(entry, buffer);
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
    }
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   374
    else if (attr == &attr_value) {
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   375
        return ec_sdo_entry_read_value(entry, buffer);
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   376
    }
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
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parents:
diff changeset
   377
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
    return 0;
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
}
bc4c852e1b93 Implemented fetching of SDO dictionary.
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parents:
diff changeset
   380
bc4c852e1b93 Implemented fetching of SDO dictionary.
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parents:
diff changeset
   381
/*****************************************************************************/
bc4c852e1b93 Implemented fetching of SDO dictionary.
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parents:
diff changeset
   382
430
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
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diff changeset
   383
/**
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   384
   SDO request constructor.
74754f45d5fa Implemented SDO reading via Sysfs.
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parents: 419
diff changeset
   385
*/
74754f45d5fa Implemented SDO reading via Sysfs.
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parents: 419
diff changeset
   386
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   387
void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   388
                              ec_sdo_t *sdo, /**< SDO */
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   389
                              ec_sdo_entry_t *entry /**< SDO entry */
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   390
                              )
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   391
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   392
    req->sdo = sdo;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   393
    req->entry = entry;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   394
    req->data = NULL;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   395
    req->size = 0;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   396
    req->return_code = 0;
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   397
}
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   398
74754f45d5fa Implemented SDO reading via Sysfs.
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parents: 419
diff changeset
   399
/*****************************************************************************/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   400
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   401
/**
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   402
   SDO request destructor.
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   403
*/
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   404
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   405
void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   406
{
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   407
    if (req->data) kfree(req->data);
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   408
}
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   409
74754f45d5fa Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents: 419
diff changeset
   410
/*****************************************************************************/