author | Florian Pose <fp@igh-essen.com> |
Mon, 07 Apr 2008 10:26:13 +0000 | |
changeset 886 | ee1b25db1fbf |
parent 861 | 6e3de145421a |
child 926 | 6bb33c6ec770 |
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 |
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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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/** |
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\file |
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CANopen-over-EtherCAT Sdo entry functions. |
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*/ |
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|
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include "sdo.h" |
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#include "sdo_request.h" |
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#include "master.h" |
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#include "sdo_entry.h" |
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/*****************************************************************************/ |
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ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *, |
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char *); |
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void ec_sdo_entry_clear(struct kobject *); |
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/*****************************************************************************/ |
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/** \cond */ |
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EC_SYSFS_READ_ATTR(info); |
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EC_SYSFS_READ_ATTR(value); |
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static struct attribute *sdo_entry_def_attrs[] = { |
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&attr_info, |
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&attr_value, |
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NULL, |
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}; |
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static struct sysfs_ops sdo_entry_sysfs_ops = { |
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.show = &ec_show_sdo_entry_attribute, |
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.store = NULL |
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}; |
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static struct kobj_type ktype_ec_sdo_entry = { |
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.release = ec_sdo_entry_clear, |
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.sysfs_ops = &sdo_entry_sysfs_ops, |
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.default_attrs = sdo_entry_def_attrs |
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}; |
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/** \endcond */ |
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/*****************************************************************************/ |
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/** Sdo entry constructor. |
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* |
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* \todo Turn parameters. |
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*/ |
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int ec_sdo_entry_init( |
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ec_sdo_entry_t *entry, /**< Sdo entry. */ |
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uint8_t subindex, /**< Subindex. */ |
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ec_sdo_t *sdo /**< Parent Sdo. */ |
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) |
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{ |
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entry->sdo = sdo; |
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entry->subindex = subindex; |
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entry->data_type = 0x0000; |
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entry->bit_length = 0; |
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entry->description = NULL; |
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// Init kobject and add it to the hierarchy |
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memset(&entry->kobj, 0x00, sizeof(struct kobject)); |
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kobject_init(&entry->kobj); |
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entry->kobj.ktype = &ktype_ec_sdo_entry; |
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entry->kobj.parent = &sdo->kobj; |
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if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) { |
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EC_ERR("Failed to set kobj name.\n"); |
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kobject_put(&entry->kobj); |
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kobject_add() in constructors.
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return -1; |
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108 |
} |
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109 |
if (kobject_add(&entry->kobj)) { |
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EC_ERR("Failed to add entry kobject.\n"); |
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kobject_put(&entry->kobj); |
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return -1; |
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113 |
} |
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return 0; |
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116 |
} |
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/*****************************************************************************/ |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
119 |
|
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
120 |
/** Sdo entry destructor. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
121 |
* |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
122 |
* Clears and frees an Sdo entry object. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
123 |
*/ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
124 |
void ec_sdo_entry_destroy( |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
125 |
ec_sdo_entry_t *entry /**< Sdo entry. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
126 |
) |
448
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
127 |
{ |
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
128 |
// destroy self |
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
129 |
kobject_del(&entry->kobj); |
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
130 |
kobject_put(&entry->kobj); |
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
131 |
} |
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
132 |
|
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
133 |
/*****************************************************************************/ |
e4b76dc7910c
FIX: Introduced destroy() functions for kobject-derived classes and thus fixed memory leak.
Florian Pose <fp@igh-essen.com>
parents:
441
diff
changeset
|
134 |
|
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
135 |
/** Clear and free the Sdo entry. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
136 |
* |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
137 |
* This method is called by the kobject, |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
138 |
* once there are no more references to it. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
139 |
*/ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
140 |
void ec_sdo_entry_clear( |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
141 |
struct kobject *kobj /**< Sdo entry's kobject. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
142 |
) |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
{ |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
if (entry->description) kfree(entry->description); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
kfree(entry); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
149 |
} |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
150 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
151 |
/*****************************************************************************/ |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
740
diff
changeset
|
152 |
|
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
153 |
/** Print Sdo entry information to a buffer. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
154 |
* |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
155 |
* \return Number of bytes written. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
156 |
*/ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
157 |
ssize_t ec_sdo_entry_info( |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
158 |
ec_sdo_entry_t *entry, /**< Sdo entry. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
159 |
char *buffer /**< Target buffer. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
160 |
) |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
161 |
{ |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
162 |
off_t off = 0; |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
163 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
off += sprintf(buffer + off, "Description: %s\n", |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
entry->description ? entry->description : ""); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
return off; |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
} |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
172 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
/*****************************************************************************/ |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
|
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
175 |
/** Format entry data based on the CANopen data type and print it to a buffer. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
176 |
* |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
740
diff
changeset
|
177 |
* \return number of bytes written. |
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
740
diff
changeset
|
178 |
*/ |
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
179 |
ssize_t ec_sdo_entry_format_data( |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
180 |
ec_sdo_entry_t *entry, /**< Sdo entry. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
181 |
ec_sdo_request_t *request, /**< Sdo request. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
182 |
char *buffer /**< Target buffer. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
183 |
) |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
184 |
{ |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
185 |
off_t off = 0; |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
186 |
unsigned int i; |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
187 |
|
657
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
188 |
if (entry->data_type == 0x0002) { // int8 |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
189 |
int8_t value; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
190 |
if (entry->bit_length != 8) |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
191 |
goto not_fit; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
192 |
value = EC_READ_S8(request->data); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
193 |
off += sprintf(buffer + off, "%i (0x%02X)\n", value, value); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
194 |
} |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
195 |
else if (entry->data_type == 0x0003) { // int16 |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
196 |
int16_t value; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
197 |
if (entry->bit_length != 16) |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
198 |
goto not_fit; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
199 |
value = EC_READ_S16(request->data); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
200 |
off += sprintf(buffer + off, "%i (0x%04X)\n", value, value); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
201 |
} |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
202 |
else if (entry->data_type == 0x0004) { // int32 |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
203 |
int32_t value; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
204 |
if (entry->bit_length != 32) |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
205 |
goto not_fit; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
206 |
value = EC_READ_S16(request->data); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
207 |
off += sprintf(buffer + off, "%i (0x%08X)\n", value, value); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
208 |
} |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
209 |
else if (entry->data_type == 0x0005) { // uint8 |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
210 |
uint8_t value; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
211 |
if (entry->bit_length != 8) |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
212 |
goto not_fit; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
213 |
value = EC_READ_U8(request->data); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
214 |
off += sprintf(buffer + off, "%u (0x%02X)\n", value, value); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
215 |
} |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
216 |
else if (entry->data_type == 0x0006) { // uint16 |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
217 |
uint16_t value; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
218 |
if (entry->bit_length != 16) |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
219 |
goto not_fit; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
220 |
value = EC_READ_U16(request->data); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
221 |
off += sprintf(buffer + off, "%u (0x%04X)\n", value, value); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
222 |
} |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
223 |
else if (entry->data_type == 0x0007) { // uint32 |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
224 |
uint32_t value; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
225 |
if (entry->bit_length != 32) |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
226 |
goto not_fit; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
227 |
value = EC_READ_U32(request->data); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
228 |
off += sprintf(buffer + off, "%i (0x%08X)\n", value, value); |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
229 |
} |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
230 |
else if (entry->data_type == 0x0009) { // string |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
231 |
off += sprintf(buffer + off, "%s\n", request->data); |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
232 |
} |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
233 |
else { |
657
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
234 |
off += sprintf(buffer + off, "Unknown data type %04X. Data:\n", |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
235 |
entry->data_type); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
236 |
goto raw_data; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
237 |
} |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
238 |
return off; |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
239 |
|
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
240 |
not_fit: |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
241 |
off += sprintf(buffer + off, |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
242 |
"Invalid bit length %u for data type 0x%04X. Data:\n", |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
243 |
entry->bit_length, entry->data_type); |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
244 |
raw_data: |
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
|
245 |
for (i = 0; i < request->data_size; i++) |
657
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
246 |
off += sprintf(buffer + off, "%02X (%c)\n", |
7756b9f2eac2
Respected endianess in sysfs SDO output; Separate message, if data type
Florian Pose <fp@igh-essen.com>
parents:
649
diff
changeset
|
247 |
request->data[i], request->data[i]); |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
248 |
return off; |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
249 |
} |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
250 |
|
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
251 |
/*****************************************************************************/ |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
252 |
|
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
253 |
/** Start blocking Sdo entry reading. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
254 |
* |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
740
diff
changeset
|
255 |
* This function blocks, until reading is finished, and is interruptible as |
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
740
diff
changeset
|
256 |
* long as the master state machine has not begun with reading. |
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
257 |
* |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
740
diff
changeset
|
258 |
* \return number of bytes written to buffer, or error code. |
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
740
diff
changeset
|
259 |
*/ |
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
260 |
ssize_t ec_sdo_entry_read_value( |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
261 |
ec_sdo_entry_t *entry, /**< Sdo entry. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
262 |
char *buffer /**< Target buffer. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
263 |
) |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
264 |
{ |
739
4a02162a6301
Removed 'sdo' field from ec_sdo_request_t; Exported
Florian Pose <fp@igh-essen.com>
parents:
657
diff
changeset
|
265 |
ec_master_t *master = entry->sdo->slave->master; |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
266 |
off_t off = 0; |
849
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
267 |
ec_master_sdo_request_t request; |
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
268 |
|
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
269 |
request.slave = entry->sdo->slave; |
852
ab439cbc7a81
Separated ec_sdo_request_init() and ec_sdo_request_read().
Florian Pose <fp@igh-essen.com>
parents:
849
diff
changeset
|
270 |
ec_sdo_request_init(&request.req); |
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
|
271 |
ec_sdo_request_address(&request.req, entry->sdo->index, entry->subindex); |
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
272 |
ecrt_sdo_request_read(&request.req); |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
273 |
|
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
274 |
// schedule request. |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
275 |
down(&master->sdo_sem); |
849
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
276 |
list_add_tail(&request.list, &master->slave_sdo_requests); |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
277 |
up(&master->sdo_sem); |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
278 |
|
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
279 |
// wait for processing through FSM |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
280 |
if (wait_event_interruptible(master->sdo_queue, |
849
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
281 |
request.req.state != EC_REQUEST_QUEUED)) { |
441
ffa13db95e10
SDO uploading via Sysfs without master FSM calling wake_up().
Florian Pose <fp@igh-essen.com>
parents:
430
diff
changeset
|
282 |
// interrupted by signal |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
283 |
down(&master->sdo_sem); |
849
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
284 |
if (request.req.state == EC_REQUEST_QUEUED) { |
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
285 |
list_del(&request.req.list); |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
286 |
up(&master->sdo_sem); |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
287 |
return -EINTR; |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
288 |
} |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
289 |
// request already processing: interrupt not possible. |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
290 |
up(&master->sdo_sem); |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
291 |
} |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
292 |
|
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
293 |
// wait until master FSM has finished processing |
861
6e3de145421a
Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
294 |
wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY); |
6e3de145421a
Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
295 |
|
6e3de145421a
Introduced ec_sdo_request_state_t, making ec_request_t private again;
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
296 |
if (request.req.state != EC_REQUEST_SUCCESS) |
646
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
297 |
return -EIO; |
fbbd4e54e031
Implemented SDO reading with wait queues.
Florian Pose <fp@igh-essen.com>
parents:
484
diff
changeset
|
298 |
|
849
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
299 |
off += ec_sdo_entry_format_data(entry, &request.req, buffer); |
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
300 |
|
4b712ec8929d
Removed slave pointer from ec_sdo_request_t class.
Florian Pose <fp@igh-essen.com>
parents:
847
diff
changeset
|
301 |
ec_sdo_request_clear(&request.req); |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
302 |
return off; |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
303 |
} |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
304 |
|
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
305 |
/*****************************************************************************/ |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
306 |
|
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
307 |
/** Show the Sysfs attribute of an Sdo entry. |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
308 |
* |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
309 |
* /return Number of bytes written to buffer. |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
740
diff
changeset
|
310 |
*/ |
847
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
311 |
ssize_t ec_show_sdo_entry_attribute( |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
312 |
struct kobject *kobj, /**< kobject. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
313 |
struct attribute *attr, /**< Sysfs attribute. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
314 |
char *buffer /**< Target buffer. */ |
92266462d411
Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
315 |
) |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
{ |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
318 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
319 |
if (attr == &attr_info) { |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
return ec_sdo_entry_info(entry, buffer); |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
} |
430
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
322 |
else if (attr == &attr_value) { |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
323 |
return ec_sdo_entry_read_value(entry, buffer); |
74754f45d5fa
Implemented SDO reading via Sysfs.
Florian Pose <fp@igh-essen.com>
parents:
419
diff
changeset
|
324 |
} |
409
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
325 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
326 |
return 0; |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
327 |
} |
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
328 |
|
bc4c852e1b93
Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
/*****************************************************************************/ |