master/sdo_request.c
author Florian Pose <fp@igh-essen.com>
Mon, 26 Jan 2009 14:14:17 +0000
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child 1363 11c0b2caa253
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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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 *  Using the EtherCAT technology and brand is permitted in compliance with
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 *  the 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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 * Canopen over EtherCAT SDO 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 "sdo_request.h"
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/*****************************************************************************/
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/** Default timeout in ms to wait for SDO transfer responses.
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 */
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#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000
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/*****************************************************************************/
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void ec_sdo_request_clear_data(ec_sdo_request_t *);
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/*****************************************************************************/
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/** SDO request constructor.
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 */
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void ec_sdo_request_init(
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        ec_sdo_request_t *req /**< SDO request. */
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        )
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{
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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->issue_timeout = 0; // no timeout
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    req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;
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    req->state = EC_INT_REQUEST_INIT;
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    req->abort_code = 0x00000000;
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}
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/*****************************************************************************/
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/** SDO request destructor.
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 */
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void ec_sdo_request_clear(
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        ec_sdo_request_t *req /**< SDO request. */
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        )
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{
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    ec_sdo_request_clear_data(req);
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}
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/*****************************************************************************/
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/** Copy another SDO request.
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 *
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 * \attention Only the index subindex and data are copied.
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 */
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int ec_sdo_request_copy(
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        ec_sdo_request_t *req, /**< SDO request. */
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        const ec_sdo_request_t *other /**< Other SDO request to copy from. */
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        )
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{
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    req->index = other->index;
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    req->subindex = other->subindex;
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    return ec_sdo_request_copy_data(req, other->data, other->data_size);
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}
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/*****************************************************************************/
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/** SDO request destructor.
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 */
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void ec_sdo_request_clear_data(
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        ec_sdo_request_t *req /**< SDO 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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/** Set the SDO address.
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 */
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void ec_sdo_request_address(
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        ec_sdo_request_t *req, /**< SDO request. */
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        uint16_t index, /**< SDO index. */
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        uint8_t subindex /**< SDO subindex. */
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        )
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{
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    req->index = index;
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    req->subindex = subindex;
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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_sdo_request_alloc(
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        ec_sdo_request_t *req, /**< SDO 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_sdo_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 %u bytes of SDO 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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   153
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/** Copies SDO 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_sdo_request_copy_data(
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        ec_sdo_request_t *req, /**< SDO 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_sdo_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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/** Checks, if the timeout was exceeded.
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 *
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 * \return non-zero if the timeout was exceeded, else zero.
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 */
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int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< SDO request. */)
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{
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    return req->issue_timeout
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        && jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;
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}
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/*****************************************************************************
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 * Realtime interface.
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 ****************************************************************************/
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void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
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{
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    req->issue_timeout = timeout;
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}
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/*****************************************************************************/
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uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
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{
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    return req->data;
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}
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/*****************************************************************************/
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size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
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{
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    return req->data_size;
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}
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/*****************************************************************************/
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ec_request_state_t ecrt_sdo_request_state(const ec_sdo_request_t *req)
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{
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   return ec_request_state_translation_table[req->state];
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}
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/*****************************************************************************/
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void ecrt_sdo_request_read(ec_sdo_request_t *req)
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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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    req->abort_code = 0x00000000;
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    req->jiffies_start = jiffies;
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}
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/*****************************************************************************/
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void ecrt_sdo_request_write(ec_sdo_request_t *req)
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{
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    req->dir = EC_DIR_OUTPUT;
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    req->state = EC_INT_REQUEST_QUEUED;
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    req->abort_code = 0x00000000;
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    req->jiffies_start = jiffies;
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}
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/*****************************************************************************/
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/** \cond */
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EXPORT_SYMBOL(ecrt_sdo_request_timeout);
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EXPORT_SYMBOL(ecrt_sdo_request_data);
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EXPORT_SYMBOL(ecrt_sdo_request_data_size);
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EXPORT_SYMBOL(ecrt_sdo_request_state);
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EXPORT_SYMBOL(ecrt_sdo_request_read);
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EXPORT_SYMBOL(ecrt_sdo_request_write);
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/** \endcond */
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/*****************************************************************************/