--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/soe_request.c Mon Mar 01 18:33:42 2010 +0100
@@ -0,0 +1,198 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License version 2, as
+ * published by the Free Software Foundation.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * ---
+ *
+ * The license mentioned above concerns the source code only. Using the
+ * EtherCAT technology and brand is only permitted in compliance with the
+ * industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/** \file
+ * Sercos-over-EtherCAT request functions.
+ */
+
+/*****************************************************************************/
+
+#include <linux/module.h>
+#include <linux/jiffies.h>
+
+#include "soe_request.h"
+
+/*****************************************************************************/
+
+/** Default timeout in ms to wait for SoE responses.
+ */
+#define EC_SOE_REQUEST_RESPONSE_TIMEOUT 1000
+
+/*****************************************************************************/
+
+void ec_soe_request_clear_data(ec_soe_request_t *);
+
+/*****************************************************************************/
+
+/** SoE request constructor.
+ */
+void ec_soe_request_init(
+ ec_soe_request_t *req /**< SoE request. */
+ )
+{
+ req->data = NULL;
+ req->mem_size = 0;
+ req->data_size = 0;
+ req->dir = EC_DIR_INVALID;
+ req->state = EC_INT_REQUEST_INIT;
+ //req->jiffies_start = 0U;
+ req->jiffies_sent = 0U;
+ req->error_code = 0x0000;
+}
+
+/*****************************************************************************/
+
+/** SoE request destructor.
+ */
+void ec_soe_request_clear(
+ ec_soe_request_t *req /**< SoE request. */
+ )
+{
+ ec_soe_request_clear_data(req);
+}
+
+/*****************************************************************************/
+
+/** Set IDN.
+ */
+void ec_soe_request_set_idn(
+ ec_soe_request_t *req, /**< SoE request. */
+ uint16_t idn /** IDN. */
+ )
+{
+ req->idn = idn;
+}
+
+#if 0
+/*****************************************************************************/
+
+/** Copy another SoE request.
+ *
+ * \attention Only the index subindex and data are copied.
+ */
+int ec_soe_request_copy(
+ ec_soe_request_t *req, /**< SoE request. */
+ const ec_soe_request_t *other /**< Other SoE request to copy from. */
+ )
+{
+ req->complete_access = other->complete_access;
+ req->index = other->index;
+ req->subindex = other->subindex;
+ return ec_soe_request_copy_data(req, other->data, other->data_size);
+}
+#endif
+
+/*****************************************************************************/
+
+/** Free allocated memory.
+ */
+void ec_soe_request_clear_data(
+ ec_soe_request_t *req /**< SoE request. */
+ )
+{
+ if (req->data) {
+ kfree(req->data);
+ req->data = NULL;
+ }
+
+ req->mem_size = 0;
+ req->data_size = 0;
+}
+
+/*****************************************************************************/
+
+/** Pre-allocates the data memory.
+ *
+ * If the \a mem_size is already bigger than \a size, nothing is done.
+ *
+ * \return 0 on success, otherwise -ENOMEM.
+ */
+int ec_soe_request_alloc(
+ ec_soe_request_t *req, /**< SoE request. */
+ size_t size /**< Data size to allocate. */
+ )
+{
+ if (size <= req->mem_size)
+ return 0;
+
+ ec_soe_request_clear_data(req);
+
+ if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
+ EC_ERR("Failed to allocate %zu bytes of SoE memory.\n", size);
+ return -ENOMEM;
+ }
+
+ req->mem_size = size;
+ req->data_size = 0;
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Copies SoE data from an external source.
+ *
+ * If the \a mem_size is to small, new memory is allocated.
+ *
+ * \retval 0 Success.
+ * \retval <0 Error code.
+ */
+int ec_soe_request_copy_data(
+ ec_soe_request_t *req, /**< SoE request. */
+ const uint8_t *source, /**< Source data. */
+ size_t size /**< Number of bytes in \a source. */
+ )
+{
+ int ret = ec_soe_request_alloc(req, size);
+ if (ret < 0)
+ return ret;
+
+ memcpy(req->data, source, size);
+ req->data_size = size;
+ return 0;
+}
+
+/*****************************************************************************/
+
+void ec_soe_request_read(ec_soe_request_t *req)
+{
+ req->dir = EC_DIR_INPUT;
+ req->state = EC_INT_REQUEST_QUEUED;
+ req->error_code = 0x0000;
+}
+
+/*****************************************************************************/
+
+void ec_soe_request_write(ec_soe_request_t *req)
+{
+ req->dir = EC_DIR_OUTPUT;
+ req->state = EC_INT_REQUEST_QUEUED;
+ req->error_code = 0x0000;
+}
+
+/*****************************************************************************/