1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/** \file

    35

 * Canopen-over-EtherCAT Sdo request functions.

    36

 */

    37

    38

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

    39

    40

#include <linux/module.h>

    41

#include <linux/jiffies.h>

    42

    43

#include "sdo_request.h"

    44

    45

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

    46

    47

/** Default timeout in ms to wait for Sdo transfer responses.

    48

 */

    49

#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000

    50

    51

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

    52

    53

void ec_sdo_request_clear_data(ec_sdo_request_t *);

    54

    55

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

    56

    57

/** Sdo request constructor.

    58

 */

    59

void ec_sdo_request_init(

    60

        ec_sdo_request_t *req /**< Sdo request. */

    61

        )

    62

{

    63

    req->data = NULL;

    64

    req->mem_size = 0;

    65

    req->data_size = 0;

    66

    req->dir = EC_DIR_INVALID;

    67

    req->issue_timeout = 0; // no timeout

    68

    req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;

    69

    req->state = EC_INT_REQUEST_INIT;

    70

    req->abort_code = 0x00000000;

    71

}

    72

    73

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

    74

    75

/** Sdo request destructor.

    76

 */

    77

void ec_sdo_request_clear(

    78

        ec_sdo_request_t *req /**< Sdo request. */

    79

        )

    80

{

    81

    ec_sdo_request_clear_data(req);

    82

}

    83

    84

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

    85

    86

/** Sdo request destructor.

    87

 */

    88

void ec_sdo_request_clear_data(

    89

        ec_sdo_request_t *req /**< Sdo request. */

    90

        )

    91

{

    92

    if (req->data) {

    93

        kfree(req->data);

    94

        req->data = NULL;

    95

    }

    96

    97

    req->mem_size = 0;

    98

    req->data_size = 0;

    99

}

   100

   101

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

   102

   103

/** Set the Sdo address.

   104

 */

   105

void ec_sdo_request_address(

   106

        ec_sdo_request_t *req, /**< Sdo request. */

   107

        uint16_t index, /**< Sdo index. */

   108

        uint8_t subindex /**< Sdo subindex. */

   109

        )

   110

{

   111

    req->index = index;

   112

    req->subindex = subindex;

   113

}

   114

   115

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

   116

   117

/** Pre-allocates the data memory.

   118

 *

   119

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

   120

 */

   121

int ec_sdo_request_alloc(

   122

        ec_sdo_request_t *req, /**< Sdo request. */

   123

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

   124

        )

   125

{

   126

    if (size <= req->mem_size)

   127

        return 0;

   128

   129

    ec_sdo_request_clear_data(req);

   130

   131

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

   132

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

   133

        return -1;

   134

    }

   135

   136

    req->mem_size = size;

   137

    req->data_size = 0;

   138

    return 0;

   139

}

   140

   141

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

   142

   143

/** Copies Sdo data from an external source.

   144

 *

   145

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

   146

 */

   147

int ec_sdo_request_copy_data(

   148

        ec_sdo_request_t *req, /**< Sdo request. */

   149

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

   150

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

   151

        )

   152

{

   153

    if (ec_sdo_request_alloc(req, size))

   154

        return -1;

   155

   156

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

   157

    req->data_size = size;

   158

    return 0;

   159

}

   160

   161

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

   162

   163

/** Checks, if the timeout was exceeded.

   164

 *

   165

 * \return non-zero if the timeout was exceeded, else zero.

   166

 */

   167

int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< Sdo request. */)

   168

{

   169

    return req->issue_timeout

   170

        && jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;

   171

}

   172

   173

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

   174

 * Realtime interface.

   175

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

   176

   177

void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)

   178

{

   179

    req->issue_timeout = timeout;

   180

}

   181

   182

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

   183

   184

uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)

   185

{

   186

    return req->data;

   187

}

   188

   189

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

   190

   191

size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)

   192

{

   193

    return req->data_size;

   194

}

   195

   196

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

   197

   198

ec_request_state_t ecrt_sdo_request_state(const ec_sdo_request_t *req)

   199

{

   200

   return ec_request_state_translation_table[req->state];

   201

}

   202

   203

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

   204

   205

void ecrt_sdo_request_read(ec_sdo_request_t *req)

   206

{

   207

    req->dir = EC_DIR_INPUT;

   208

    req->state = EC_INT_REQUEST_QUEUED;

   209

    req->abort_code = 0x00000000;

   210

    req->jiffies_start = jiffies;

   211

}

   212

   213

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

   214

   215

void ecrt_sdo_request_write(ec_sdo_request_t *req)

   216

{

   217

    req->dir = EC_DIR_OUTPUT;

   218

    req->state = EC_INT_REQUEST_QUEUED;

   219

    req->abort_code = 0x00000000;

   220

    req->jiffies_start = jiffies;

   221

}

   222

   223

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

   224

   225

/** \cond */

   226

   227

EXPORT_SYMBOL(ecrt_sdo_request_timeout);

   228

EXPORT_SYMBOL(ecrt_sdo_request_data);

   229

EXPORT_SYMBOL(ecrt_sdo_request_data_size);

   230

EXPORT_SYMBOL(ecrt_sdo_request_state);

   231

EXPORT_SYMBOL(ecrt_sdo_request_read);

   232

EXPORT_SYMBOL(ecrt_sdo_request_write);

   233

   234

/** \endcond */

   235

   236

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