author | Florian Pose <fp@igh-essen.com> |
Wed, 26 Nov 2008 10:36:07 +0000 | |
changeset 1320 | 9ddbfb2f284d |
parent 1318 | 76b4014391bd |
child 1326 | ef907b0b5125 |
permissions | -rw-r--r-- |
409
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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 |
bc4c852e1b93
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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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/** 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, |
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const ec_sdo_request_t *other |
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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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Separated ec_sdo_request_init() and ec_sdo_request_read().
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115 |
} |
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|
116 |
|
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|
117 |
/*****************************************************************************/ |
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|
118 |
|
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|
119 |
/** Set the Sdo address. |
852
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120 |
*/ |
854
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|
121 |
void ec_sdo_request_address( |
852
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|
122 |
ec_sdo_request_t *req, /**< Sdo request. */ |
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|
123 |
uint16_t index, /**< Sdo index. */ |
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|
124 |
uint8_t subindex /**< Sdo subindex. */ |
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|
125 |
) |
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|
126 |
{ |
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|
127 |
req->index = index; |
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|
128 |
req->subindex = subindex; |
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|
129 |
} |
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|
130 |
|
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|
131 |
/*****************************************************************************/ |
854
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|
132 |
|
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|
133 |
/** Pre-allocates the data memory. |
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|
134 |
* |
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|
135 |
* If the \a mem_size is already bigger than \a size, nothing is done. |
1312
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136 |
* |
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|
137 |
* \return 0 on success, otherwise -ENOMEM. |
854
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|
138 |
*/ |
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|
139 |
int ec_sdo_request_alloc( |
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|
140 |
ec_sdo_request_t *req, /**< Sdo request. */ |
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|
141 |
size_t size /**< Data size to allocate. */ |
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|
142 |
) |
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|
143 |
{ |
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|
144 |
if (size <= req->mem_size) |
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|
145 |
return 0; |
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|
146 |
|
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|
147 |
ec_sdo_request_clear_data(req); |
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|
148 |
|
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|
149 |
if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) { |
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|
150 |
EC_ERR("Failed to allocate %u bytes of Sdo memory.\n", size); |
1312
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|
151 |
return -ENOMEM; |
854
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|
152 |
} |
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|
153 |
|
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|
154 |
req->mem_size = size; |
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|
155 |
req->data_size = 0; |
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|
156 |
return 0; |
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|
157 |
} |
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changeset
|
158 |
|
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|
159 |
/*****************************************************************************/ |
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changeset
|
160 |
|
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|
161 |
/** Copies Sdo data from an external source. |
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|
162 |
* |
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|
163 |
* If the \a mem_size is to small, new memory is allocated. |
1313
ed15eef57d5c
Improved error case return codes of many functions.
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|
164 |
* |
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Improved error case return codes of many functions.
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|
165 |
* \retval 0 Success. |
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Improved error case return codes of many functions.
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|
166 |
* \retval <0 Error code. |
854
f4f53be425ac
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|
167 |
*/ |
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|
168 |
int ec_sdo_request_copy_data( |
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|
169 |
ec_sdo_request_t *req, /**< Sdo request. */ |
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|
170 |
const uint8_t *source, /**< Source data. */ |
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|
171 |
size_t size /**< Number of bytes in \a source. */ |
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|
172 |
) |
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|
173 |
{ |
1313
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Improved error case return codes of many functions.
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diff
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|
174 |
int ret = ec_sdo_request_alloc(req, size); |
ed15eef57d5c
Improved error case return codes of many functions.
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|
175 |
if (ret < 0) |
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Improved error case return codes of many functions.
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|
176 |
return ret; |
854
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|
177 |
|
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|
178 |
memcpy(req->data, source, size); |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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changeset
|
179 |
req->data_size = size; |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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|
180 |
return 0; |
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|
181 |
} |
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Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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changeset
|
182 |
|
880 | 183 |
/*****************************************************************************/ |
184 |
||
185 |
/** Checks, if the timeout was exceeded. |
|
186 |
* |
|
187 |
* \return non-zero if the timeout was exceeded, else zero. |
|
188 |
*/ |
|
189 |
int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< Sdo request. */) |
|
190 |
{ |
|
1035
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
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diff
changeset
|
191 |
return req->issue_timeout |
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
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diff
changeset
|
192 |
&& jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000; |
880 | 193 |
} |
194 |
||
858
69122084d066
Basic reading realtime Sdo access working.
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|
195 |
/***************************************************************************** |
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diff
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|
196 |
* Realtime interface. |
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Basic reading realtime Sdo access working.
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|
197 |
****************************************************************************/ |
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Basic reading realtime Sdo access working.
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|
198 |
|
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|
199 |
void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout) |
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Basic reading realtime Sdo access working.
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|
200 |
{ |
1035
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Added response timeout to sdo_request; removed timout from fsm_coe_map.
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diff
changeset
|
201 |
req->issue_timeout = timeout; |
858
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Basic reading realtime Sdo access working.
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diff
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|
202 |
} |
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changeset
|
203 |
|
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|
204 |
/*****************************************************************************/ |
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|
205 |
|
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|
206 |
uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req) |
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|
207 |
{ |
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|
208 |
return req->data; |
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Basic reading realtime Sdo access working.
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diff
changeset
|
209 |
} |
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Basic reading realtime Sdo access working.
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diff
changeset
|
210 |
|
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diff
changeset
|
211 |
/*****************************************************************************/ |
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Basic reading realtime Sdo access working.
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diff
changeset
|
212 |
|
869
6c2f4130ed46
Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents:
863
diff
changeset
|
213 |
size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req) |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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parents:
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diff
changeset
|
214 |
{ |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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parents:
863
diff
changeset
|
215 |
return req->data_size; |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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parents:
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diff
changeset
|
216 |
} |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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parents:
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diff
changeset
|
217 |
|
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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parents:
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diff
changeset
|
218 |
/*****************************************************************************/ |
6c2f4130ed46
Added ecrt_sdo_request_data_size().
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parents:
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diff
changeset
|
219 |
|
1209 | 220 |
ec_request_state_t ecrt_sdo_request_state(const ec_sdo_request_t *req) |
221 |
{ |
|
222 |
return ec_request_state_translation_table[req->state]; |
|
858
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|
223 |
} |
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Basic reading realtime Sdo access working.
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changeset
|
224 |
|
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diff
changeset
|
225 |
/*****************************************************************************/ |
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changeset
|
226 |
|
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|
227 |
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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changeset
|
228 |
{ |
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
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parents:
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diff
changeset
|
229 |
req->dir = EC_DIR_INPUT; |
1209 | 230 |
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
|
231 |
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
|
232 |
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
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233 |
} |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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parents:
852
diff
changeset
|
234 |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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parents:
852
diff
changeset
|
235 |
/*****************************************************************************/ |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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parents:
852
diff
changeset
|
236 |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
237 |
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.
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parents:
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diff
changeset
|
238 |
{ |
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
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parents:
858
diff
changeset
|
239 |
req->dir = EC_DIR_OUTPUT; |
1209 | 240 |
req->state = EC_INT_REQUEST_QUEUED; |
1037
59f191c9185b
Store abort code in sdo request; output it in user space; added some
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parents:
1035
diff
changeset
|
241 |
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
|
242 |
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
|
243 |
} |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
244 |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
852
diff
changeset
|
245 |
/*****************************************************************************/ |
858
69122084d066
Basic reading realtime Sdo access working.
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parents:
854
diff
changeset
|
246 |
|
863 | 247 |
/** \cond */ |
248 |
||
858
69122084d066
Basic reading realtime Sdo access working.
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parents:
854
diff
changeset
|
249 |
EXPORT_SYMBOL(ecrt_sdo_request_timeout); |
69122084d066
Basic reading realtime Sdo access working.
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parents:
854
diff
changeset
|
250 |
EXPORT_SYMBOL(ecrt_sdo_request_data); |
869
6c2f4130ed46
Added ecrt_sdo_request_data_size().
Florian Pose <fp@igh-essen.com>
parents:
863
diff
changeset
|
251 |
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
|
252 |
EXPORT_SYMBOL(ecrt_sdo_request_state); |
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
253 |
EXPORT_SYMBOL(ecrt_sdo_request_read); |
69122084d066
Basic reading realtime Sdo access working.
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parents:
854
diff
changeset
|
254 |
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
|
255 |
|
863 | 256 |
/** \endcond */ |
257 |
||
258 |
/*****************************************************************************/ |