master/soe_request.c
author Florian Pose <fp@igh-essen.com>
Fri, 05 Mar 2010 13:44:57 +0100
changeset 1836 52036efdf1e3
parent 1831 1875b9fea0ba
child 1843 4d44d8bee580
permissions -rw-r--r--
TODO.
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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 "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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    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_start = 0U;
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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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/** 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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#if 0
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/*****************************************************************************/
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/** Copy another SoE 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_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->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_soe_request_copy_data(req, other->data, other->data_size);
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}
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#endif
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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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void ec_soe_request_read(ec_soe_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->error_code = 0x0000;
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}
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/*****************************************************************************/
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void ec_soe_request_write(ec_soe_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->error_code = 0x0000;
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}
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/*****************************************************************************/