1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/** \file

    31

 * Sercos-over-EtherCAT request functions.

    32

 */

    33

    34

/*****************************************************************************/

    35

    36

#include <linux/module.h>

    37

#include <linux/jiffies.h>

    38

#include <linux/slab.h>

    39

    40

#include "soe_request.h"

    41

    42

/*****************************************************************************/

    43

    44

/** Default timeout in ms to wait for SoE responses.

    45

 */

    46

#define EC_SOE_REQUEST_RESPONSE_TIMEOUT 1000

    47

    48

/*****************************************************************************/

    49

    50

void ec_soe_request_clear_data(ec_soe_request_t *);

    51

    52

/*****************************************************************************/

    53

    54

/** SoE request constructor.

    55

 */

    56

void ec_soe_request_init(

    57

        ec_soe_request_t *req /**< SoE request. */

    58

        )

    59

{

    60

    INIT_LIST_HEAD(&req->list);

    61

    req->drive_no = 0x00;

    62

    req->idn = 0x0000;

    63

    req->al_state = EC_AL_STATE_INIT;

    64

    req->data = NULL;

    65

    req->mem_size = 0;

    66

    req->data_size = 0;

    67

    req->dir = EC_DIR_INVALID;

    68

    req->state = EC_INT_REQUEST_INIT;

    69

    req->jiffies_sent = 0U;

    70

    req->error_code = 0x0000;

    71

}

    72

    73

/*****************************************************************************/

    74

    75

/** SoE request destructor.

    76

 */

    77

void ec_soe_request_clear(

    78

        ec_soe_request_t *req /**< SoE request. */

    79

        )

    80

{

    81

    ec_soe_request_clear_data(req);

    82

}

    83

    84

/*****************************************************************************/

    85

    86

/** Copy another SoE request.

    87

 */

    88

int ec_soe_request_copy(

    89

        ec_soe_request_t *req, /**< SoE request. */

    90

        const ec_soe_request_t *other /**< Other SoE request to copy from. */

    91

        )

    92

{

    93

    req->drive_no = other->drive_no;

    94

    req->idn = other->idn;

    95

    req->al_state = other->al_state;

    96

    return ec_soe_request_copy_data(req, other->data, other->data_size);

    97

}

    98

    99

/*****************************************************************************/

   100

   101

/** Set drive number.

   102

 */

   103

void ec_soe_request_set_drive_no(

   104

        ec_soe_request_t *req, /**< SoE request. */

   105

        uint8_t drive_no /** Drive Number. */

   106

        )

   107

{

   108

    req->drive_no = drive_no;

   109

}

   110

   111

/*****************************************************************************/

   112

   113

/** Set IDN.

   114

 */

   115

void ec_soe_request_set_idn(

   116

        ec_soe_request_t *req, /**< SoE request. */

   117

        uint16_t idn /** IDN. */

   118

        )

   119

{

   120

    req->idn = idn;

   121

}

   122

   123

/*****************************************************************************/

   124

   125

/** Free allocated memory.

   126

 */

   127

void ec_soe_request_clear_data(

   128

        ec_soe_request_t *req /**< SoE request. */

   129

        )

   130

{

   131

    if (req->data) {

   132

        kfree(req->data);

   133

        req->data = NULL;

   134

    }

   135

   136

    req->mem_size = 0;

   137

    req->data_size = 0;

   138

}

   139

   140

/*****************************************************************************/

   141

   142

/** Pre-allocates the data memory.

   143

 *

   144

 * If the \a mem_size is already bigger than \a size, nothing is done.

   145

 *

   146

 * \return 0 on success, otherwise -ENOMEM.

   147

 */

   148

int ec_soe_request_alloc(

   149

        ec_soe_request_t *req, /**< SoE request. */

   150

        size_t size /**< Data size to allocate. */

   151

        )

   152

{

   153

    if (size <= req->mem_size)

   154

        return 0;

   155

   156

    ec_soe_request_clear_data(req);

   157

   158

    if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {

   159

        EC_ERR("Failed to allocate %zu bytes of SoE memory.\n", size);

   160

        return -ENOMEM;

   161

    }

   162

   163

    req->mem_size = size;

   164

    req->data_size = 0;

   165

    return 0;

   166

}

   167

   168

/*****************************************************************************/

   169

   170

/** Copies SoE data from an external source.

   171

 *

   172

 * If the \a mem_size is to small, new memory is allocated.

   173

 *

   174

 * \retval  0 Success.

   175

 * \retval <0 Error code.

   176

 */

   177

int ec_soe_request_copy_data(

   178

        ec_soe_request_t *req, /**< SoE request. */

   179

        const uint8_t *source, /**< Source data. */

   180

        size_t size /**< Number of bytes in \a source. */

   181

        )

   182

{

   183

    int ret = ec_soe_request_alloc(req, size);

   184

    if (ret < 0)

   185

        return ret;

   186

   187

    memcpy(req->data, source, size);

   188

    req->data_size = size;

   189

    return 0;

   190

}

   191

   192

/*****************************************************************************/

   193

   194

/** Copies SoE data from an external source.

   195

 *

   196

 * If the \a mem_size is to small, new memory is allocated.

   197

 *

   198

 * \retval  0 Success.

   199

 * \retval <0 Error code.

   200

 */

   201

int ec_soe_request_append_data(

   202

        ec_soe_request_t *req, /**< SoE request. */

   203

        const uint8_t *source, /**< Source data. */

   204

        size_t size /**< Number of bytes in \a source. */

   205

        )

   206

{

   207

    if (req->data_size + size > req->mem_size) {

   208

        size_t new_size = req->mem_size ? req->mem_size * 2 : size;

   209

        uint8_t *new_data = (uint8_t *) kmalloc(new_size, GFP_KERNEL);

   210

        if (!new_data) {

   211

            EC_ERR("Failed to allocate %zu bytes of SoE memory.\n",

   212

                    new_size);

   213

            return -ENOMEM;

   214

        }

   215

        memcpy(new_data, req->data, req->data_size);

   216

        kfree(req->data);

   217

        req->data = new_data;

   218

        req->mem_size = new_size;

   219

    }

   220

   221

    memcpy(req->data + req->data_size, source, size);

   222

    req->data_size += size;

   223

    return 0;

   224

}

   225

   226

/*****************************************************************************/

   227

   228

/** Request a read operation.

   229

 */

   230

void ec_soe_request_read(

   231

        ec_soe_request_t *req /**< SoE request. */

   232

       )

   233

{

   234

    req->dir = EC_DIR_INPUT;

   235

    req->state = EC_INT_REQUEST_QUEUED;

   236

    req->error_code = 0x0000;

   237

}

   238

   239

/*****************************************************************************/

   240

   241

/** Request a write operation.

   242

 */

   243

void ec_soe_request_write(

   244

        ec_soe_request_t *req /**< SoE request. */

   245

        )

   246

{

   247

    req->dir = EC_DIR_OUTPUT;

   248

    req->state = EC_INT_REQUEST_QUEUED;

   249

    req->error_code = 0x0000;

   250

}

   251

   252

/*****************************************************************************/