author | Florian Pose <fp@igh-essen.com> |
Tue, 16 Feb 2010 10:38:01 +0100 | |
changeset 1806 | 47d152b68622 |
parent 1794 | 94e0e1756dec |
child 1831 | 1875b9fea0ba |
permissions | -rw-r--r-- |
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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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|
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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 1000 |
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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->complete_access = 0; |
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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->complete_access = other->complete_access; |
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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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109 |
} |
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|
110 |
|
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|
111 |
req->mem_size = 0; |
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|
112 |
req->data_size = 0; |
852
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|
113 |
} |
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|
114 |
|
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|
115 |
/*****************************************************************************/ |
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|
116 |
|
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|
117 |
/** Set the SDO address. |
852
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|
118 |
*/ |
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|
119 |
void ec_sdo_request_address( |
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|
120 |
ec_sdo_request_t *req, /**< SDO request. */ |
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|
121 |
uint16_t index, /**< SDO index. */ |
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|
122 |
uint8_t subindex /**< SDO subindex. */ |
852
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|
123 |
) |
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|
124 |
{ |
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|
125 |
req->index = index; |
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|
126 |
req->subindex = subindex; |
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|
127 |
} |
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|
128 |
|
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|
129 |
/*****************************************************************************/ |
854
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|
130 |
|
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|
131 |
/** Pre-allocates the data memory. |
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|
132 |
* |
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|
133 |
* If the \a mem_size is already bigger than \a size, nothing is done. |
1312
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134 |
* |
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|
135 |
* \return 0 on success, otherwise -ENOMEM. |
854
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|
136 |
*/ |
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|
137 |
int ec_sdo_request_alloc( |
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|
138 |
ec_sdo_request_t *req, /**< SDO request. */ |
854
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|
139 |
size_t size /**< Data size to allocate. */ |
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|
140 |
) |
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|
141 |
{ |
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|
142 |
if (size <= req->mem_size) |
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|
143 |
return 0; |
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|
144 |
|
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|
145 |
ec_sdo_request_clear_data(req); |
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|
146 |
|
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|
147 |
if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) { |
1543
373cd456dc26
Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
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|
148 |
EC_ERR("Failed to allocate %zu bytes of SDO memory.\n", size); |
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|
149 |
return -ENOMEM; |
854
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|
150 |
} |
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|
151 |
|
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|
152 |
req->mem_size = size; |
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|
153 |
req->data_size = 0; |
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|
154 |
return 0; |
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|
155 |
} |
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|
156 |
|
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|
157 |
/*****************************************************************************/ |
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|
158 |
|
1327
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|
159 |
/** Copies SDO data from an external source. |
854
f4f53be425ac
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|
160 |
* |
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|
161 |
* If the \a mem_size is to small, new memory is allocated. |
1313
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Improved error case return codes of many functions.
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|
162 |
* |
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Improved error case return codes of many functions.
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|
163 |
* \retval 0 Success. |
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Improved error case return codes of many functions.
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|
164 |
* \retval <0 Error code. |
854
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|
165 |
*/ |
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|
166 |
int ec_sdo_request_copy_data( |
1327
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|
167 |
ec_sdo_request_t *req, /**< SDO request. */ |
854
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|
168 |
const uint8_t *source, /**< Source data. */ |
f4f53be425ac
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|
169 |
size_t size /**< Number of bytes in \a source. */ |
f4f53be425ac
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|
170 |
) |
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|
171 |
{ |
1313
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Improved error case return codes of many functions.
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|
172 |
int ret = ec_sdo_request_alloc(req, size); |
ed15eef57d5c
Improved error case return codes of many functions.
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|
173 |
if (ret < 0) |
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Improved error case return codes of many functions.
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|
174 |
return ret; |
854
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|
175 |
|
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|
176 |
memcpy(req->data, source, size); |
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changeset
|
177 |
req->data_size = size; |
f4f53be425ac
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|
178 |
return 0; |
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|
179 |
} |
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|
180 |
|
880 | 181 |
/*****************************************************************************/ |
182 |
||
183 |
/** Checks, if the timeout was exceeded. |
|
184 |
* |
|
185 |
* \return non-zero if the timeout was exceeded, else zero. |
|
186 |
*/ |
|
1327
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merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
187 |
int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< SDO request. */) |
880 | 188 |
{ |
1035
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
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diff
changeset
|
189 |
return req->issue_timeout |
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
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diff
changeset
|
190 |
&& jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000; |
880 | 191 |
} |
192 |
||
858
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|
193 |
/***************************************************************************** |
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|
194 |
* Realtime interface. |
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|
195 |
****************************************************************************/ |
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|
196 |
|
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|
197 |
void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout) |
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|
198 |
{ |
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Added response timeout to sdo_request; removed timout from fsm_coe_map.
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changeset
|
199 |
req->issue_timeout = timeout; |
858
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|
200 |
} |
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|
201 |
|
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|
202 |
/*****************************************************************************/ |
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|
203 |
|
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|
204 |
uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req) |
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|
205 |
{ |
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|
206 |
return req->data; |
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|
207 |
} |
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|
208 |
|
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|
209 |
/*****************************************************************************/ |
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|
210 |
|
869
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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parents:
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diff
changeset
|
211 |
size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req) |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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diff
changeset
|
212 |
{ |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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diff
changeset
|
213 |
return req->data_size; |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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diff
changeset
|
214 |
} |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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diff
changeset
|
215 |
|
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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diff
changeset
|
216 |
/*****************************************************************************/ |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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diff
changeset
|
217 |
|
1209 | 218 |
ec_request_state_t ecrt_sdo_request_state(const ec_sdo_request_t *req) |
219 |
{ |
|
220 |
return ec_request_state_translation_table[req->state]; |
|
858
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|
221 |
} |
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|
222 |
|
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|
223 |
/*****************************************************************************/ |
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|
224 |
|
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|
225 |
void ecrt_sdo_request_read(ec_sdo_request_t *req) |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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|
226 |
{ |
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
227 |
req->dir = EC_DIR_INPUT; |
1209 | 228 |
req->state = EC_INT_REQUEST_QUEUED; |
1037
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
229 |
req->abort_code = 0x00000000; |
1035
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
881
diff
changeset
|
230 |
req->jiffies_start = jiffies; |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
231 |
} |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
232 |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
233 |
/*****************************************************************************/ |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
234 |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
235 |
void ecrt_sdo_request_write(ec_sdo_request_t *req) |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
236 |
{ |
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
237 |
req->dir = EC_DIR_OUTPUT; |
1209 | 238 |
req->state = EC_INT_REQUEST_QUEUED; |
1037
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
239 |
req->abort_code = 0x00000000; |
1035
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
881
diff
changeset
|
240 |
req->jiffies_start = jiffies; |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
241 |
} |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
242 |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
243 |
/*****************************************************************************/ |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
244 |
|
863 | 245 |
/** \cond */ |
246 |
||
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
247 |
EXPORT_SYMBOL(ecrt_sdo_request_timeout); |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
248 |
EXPORT_SYMBOL(ecrt_sdo_request_data); |
869
6c2f4130ed46
Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents:
863
diff
changeset
|
249 |
EXPORT_SYMBOL(ecrt_sdo_request_data_size); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
250 |
EXPORT_SYMBOL(ecrt_sdo_request_state); |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
251 |
EXPORT_SYMBOL(ecrt_sdo_request_read); |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
252 |
EXPORT_SYMBOL(ecrt_sdo_request_write); |
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
253 |
|
863 | 254 |
/** \endcond */ |
255 |
||
256 |
/*****************************************************************************/ |