master/sdo_request.c
author Florian Pose <fp@igh-essen.com>
Wed, 23 Jul 2008 07:24:22 +0000
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parent 1055 2be8918682fa
child 1209 8be462afb7f4
child 1676 6ad30897a9dc
permissions -rw-r--r--
Updated docs.
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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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/** \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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/** State type translation table.
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 */
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static const ec_sdo_request_state_t state_translation_table[] = {
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    EC_SDO_REQUEST_UNUSED,  // EC_REQUEST_INIT,
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    EC_SDO_REQUEST_BUSY,    // EC_REQUEST_QUEUED,
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    EC_SDO_REQUEST_BUSY,    // EC_REQUEST_BUSY,
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    EC_SDO_REQUEST_SUCCESS, // EC_REQUEST_SUCCESS,
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    EC_SDO_REQUEST_ERROR    // EC_REQUEST_FAILURE
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};
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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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    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_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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/** 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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/*****************************************************************************/
854
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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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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 -1;
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   146
    }
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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 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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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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    if (ec_sdo_request_alloc(req, size))
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        return -1;
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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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880
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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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858
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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_sdo_request_state_t ecrt_sdo_request_state(const ec_sdo_request_t *req)
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{
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   return 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_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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   229
    req->dir = EC_DIR_OUTPUT;
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   230
    req->state = EC_REQUEST_QUEUED;
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    req->abort_code = 0x00000000;
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   232
    req->jiffies_start = jiffies;
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   233
}
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/*****************************************************************************/
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863
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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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   243
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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/*****************************************************************************/