--- a/master/canopen.c Fri Feb 29 08:27:17 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,509 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * Copyright (C) 2006 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
- * as published by the Free Software Foundation; either version 2 of the
- * License, or (at your option) any later version.
- *
- * 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 right to use EtherCAT Technology is granted and comes free of
- * charge under condition of compatibility of product made by
- * Licensee. People intending to distribute/sell products based on the
- * code, have to sign an agreement to guarantee that products using
- * software based on IgH EtherCAT master stay compatible with the actual
- * EtherCAT specification (which are released themselves as an open
- * standard) as the (only) precondition to have the right to use EtherCAT
- * Technology, IP and trade marks.
- *
- *****************************************************************************/
-
-/**
- \file
- Canopen-over-EtherCAT functions.
-*/
-
-/*****************************************************************************/
-
-#include <linux/module.h>
-
-#include "canopen.h"
-#include "master.h"
-
-/*****************************************************************************/
-
-ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
-ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
- char *);
-void ec_sdo_clear(struct kobject *);
-void ec_sdo_entry_clear(struct kobject *);
-
-/*****************************************************************************/
-
-/** \cond */
-
-EC_SYSFS_READ_ATTR(info);
-EC_SYSFS_READ_ATTR(value);
-
-static struct attribute *sdo_def_attrs[] = {
- &attr_info,
- NULL,
-};
-
-static struct sysfs_ops sdo_sysfs_ops = {
- .show = &ec_show_sdo_attribute,
- .store = NULL
-};
-
-static struct kobj_type ktype_ec_sdo = {
- .release = ec_sdo_clear,
- .sysfs_ops = &sdo_sysfs_ops,
- .default_attrs = sdo_def_attrs
-};
-
-static struct attribute *sdo_entry_def_attrs[] = {
- &attr_info,
- &attr_value,
- NULL,
-};
-
-static struct sysfs_ops sdo_entry_sysfs_ops = {
- .show = &ec_show_sdo_entry_attribute,
- .store = NULL
-};
-
-static struct kobj_type ktype_ec_sdo_entry = {
- .release = ec_sdo_entry_clear,
- .sysfs_ops = &sdo_entry_sysfs_ops,
- .default_attrs = sdo_entry_def_attrs
-};
-
-/** \endcond */
-
-/*****************************************************************************/
-
-/**
- Sdo constructor.
-*/
-
-int ec_sdo_init(ec_sdo_t *sdo, /**< Sdo */
- uint16_t index, /**< Sdo index */
- ec_slave_t *slave /**< parent slave */
- )
-{
- sdo->slave = slave;
- sdo->index = index;
- sdo->object_code = 0x00;
- sdo->name = NULL;
- sdo->subindices = 0;
- INIT_LIST_HEAD(&sdo->entries);
-
- // init kobject and add it to the hierarchy
- memset(&sdo->kobj, 0x00, sizeof(struct kobject));
- kobject_init(&sdo->kobj);
- sdo->kobj.ktype = &ktype_ec_sdo;
- sdo->kobj.parent = &slave->sdo_kobj;
- if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {
- EC_ERR("Failed to set kobj name.\n");
- kobject_put(&sdo->kobj);
- return -1;
- }
- if (kobject_add(&sdo->kobj)) {
- EC_ERR("Failed to add Sdo kobject.\n");
- kobject_put(&sdo->kobj);
- return -1;
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Sdo destructor.
- Clears and frees an Sdo object.
-*/
-
-void ec_sdo_destroy(ec_sdo_t *sdo /**< Sdo */)
-{
- ec_sdo_entry_t *entry, *next;
-
- // free all entries
- list_for_each_entry_safe(entry, next, &sdo->entries, list) {
- list_del(&entry->list);
- ec_sdo_entry_destroy(entry);
- }
-
- // destroy self
- kobject_del(&sdo->kobj);
- kobject_put(&sdo->kobj);
-}
-
-/*****************************************************************************/
-
-/**
- Clear and free Sdo.
- This method is called by the kobject,
- once there are no more references to it.
-*/
-
-void ec_sdo_clear(struct kobject *kobj /**< Sdo's kobject */)
-{
- ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
-
- if (sdo->name) kfree(sdo->name);
-
- kfree(sdo);
-}
-
-/*****************************************************************************/
-
-/**
- * Get and Sdo entry from an Sdo via its subindex.
- * \return pointer to Sdo entry, or NULL.
- */
-
-ec_sdo_entry_t *ec_sdo_get_entry(
- ec_sdo_t *sdo, /**< Sdo */
- uint8_t subindex /**< entry subindex */
- )
-{
- ec_sdo_entry_t *entry;
-
- list_for_each_entry(entry, &sdo->entries, list) {
- if (entry->subindex != subindex) continue;
- return entry;
- }
-
- return NULL;
-}
-
-/*****************************************************************************/
-
-/**
- * Print Sdo information to a buffer.
- * /return size of bytes written to buffer.
- */
-
-ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< Sdo */
- char *buffer /**< target buffer */
- )
-{
- off_t off = 0;
-
- off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);
- off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");
- off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);
-
- return off;
-}
-
-/*****************************************************************************/
-
-/**
- * Show an Sdo as Sysfs attribute.
- * /return size of bytes written to buffer.
- */
-
-ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
- struct attribute *attr,
- char *buffer
- )
-{
- ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
-
- if (attr == &attr_info) {
- return ec_sdo_info(sdo, buffer);
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Sdo entry constructor.
-*/
-
-int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< Sdo entry */
- uint8_t subindex, /**< Sdo entry subindex */
- ec_sdo_t *sdo /**< parent Sdo */
- )
-{
- entry->sdo = sdo;
- entry->subindex = subindex;
- entry->data_type = 0x0000;
- entry->bit_length = 0;
- entry->description = NULL;
-
- // init kobject and add it to the hierarchy
- memset(&entry->kobj, 0x00, sizeof(struct kobject));
- kobject_init(&entry->kobj);
- entry->kobj.ktype = &ktype_ec_sdo_entry;
- entry->kobj.parent = &sdo->kobj;
- if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {
- EC_ERR("Failed to set kobj name.\n");
- kobject_put(&entry->kobj);
- return -1;
- }
- if (kobject_add(&entry->kobj)) {
- EC_ERR("Failed to add entry kobject.\n");
- kobject_put(&entry->kobj);
- return -1;
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Sdo entry destructor.
- Clears and frees an Sdo entry object.
-*/
-
-void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< Sdo entry */)
-{
- // destroy self
- kobject_del(&entry->kobj);
- kobject_put(&entry->kobj);
-}
-
-/*****************************************************************************/
-
-/**
- Clear and free Sdo entry.
- This method is called by the kobject,
- once there are no more references to it.
-*/
-
-void ec_sdo_entry_clear(struct kobject *kobj /**< Sdo entry's kobject */)
-{
- ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
-
- if (entry->description) kfree(entry->description);
-
- kfree(entry);
-}
-
-/*****************************************************************************/
-
-/**
- * Print Sdo entry information to a buffer.
- * \return number of bytes written.
- */
-
-ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< Sdo entry */
- char *buffer /**< target buffer */
- )
-{
- off_t off = 0;
-
- off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);
- off += sprintf(buffer + off, "Description: %s\n",
- entry->description ? entry->description : "");
- off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);
- off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);
-
- return off;
-}
-
-/*****************************************************************************/
-
-/**
- * Format entry data based on the CANopen data type and print it to a buffer.
- * \return number of bytes written.
- */
-
-ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< Sdo entry */
- ec_sdo_request_t *request, /**< Sdo request */
- char *buffer /**< target buffer */
- )
-{
- off_t off = 0;
- unsigned int i;
-
- if (entry->data_type == 0x0002) { // int8
- int8_t value;
- if (entry->bit_length != 8)
- goto not_fit;
- value = EC_READ_S8(request->data);
- off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);
- }
- else if (entry->data_type == 0x0003) { // int16
- int16_t value;
- if (entry->bit_length != 16)
- goto not_fit;
- value = EC_READ_S16(request->data);
- off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);
- }
- else if (entry->data_type == 0x0004) { // int32
- int32_t value;
- if (entry->bit_length != 32)
- goto not_fit;
- value = EC_READ_S16(request->data);
- off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
- }
- else if (entry->data_type == 0x0005) { // uint8
- uint8_t value;
- if (entry->bit_length != 8)
- goto not_fit;
- value = EC_READ_U8(request->data);
- off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);
- }
- else if (entry->data_type == 0x0006) { // uint16
- uint16_t value;
- if (entry->bit_length != 16)
- goto not_fit;
- value = EC_READ_U16(request->data);
- off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);
- }
- else if (entry->data_type == 0x0007) { // uint32
- uint32_t value;
- if (entry->bit_length != 32)
- goto not_fit;
- value = EC_READ_U32(request->data);
- off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);
- }
- else if (entry->data_type == 0x0009) { // string
- off += sprintf(buffer + off, "%s\n", request->data);
- }
- else {
- off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",
- entry->data_type);
- goto raw_data;
- }
- return off;
-
-not_fit:
- off += sprintf(buffer + off,
- "Invalid bit length %u for data type 0x%04X. Data:\n",
- entry->bit_length, entry->data_type);
-raw_data:
- for (i = 0; i < request->size; i++)
- off += sprintf(buffer + off, "%02X (%c)\n",
- request->data[i], request->data[i]);
- return off;
-}
-
-/*****************************************************************************/
-
-/**
- * Start Sdo entry reading.
- * This function blocks, until reading is finished, and is interruptible as
- * long as the master state machine has not begun with reading.
- * \return number of bytes written to buffer, or error code.
- */
-
-ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< Sdo entry */
- char *buffer /**< target buffer */
- )
-{
- ec_master_t *master = entry->sdo->slave->master;
- off_t off = 0;
- ec_sdo_request_t request;
-
- ec_sdo_request_init_read(&request, entry->sdo->slave,
- entry->sdo->index, entry->subindex);
-
- // schedule request.
- down(&master->sdo_sem);
- list_add_tail(&request.list, &master->sdo_requests);
- up(&master->sdo_sem);
-
- // wait for processing through FSM
- if (wait_event_interruptible(master->sdo_queue,
- request.state != EC_REQUEST_QUEUED)) {
- // interrupted by signal
- down(&master->sdo_sem);
- if (request.state == EC_REQUEST_QUEUED) {
- list_del(&request.list);
- up(&master->sdo_sem);
- return -EINTR;
- }
- // request already processing: interrupt not possible.
- up(&master->sdo_sem);
- }
-
- // wait until master FSM has finished processing
- wait_event(master->sdo_queue, request.state != EC_REQUEST_IN_PROGRESS);
-
- if (request.state != EC_REQUEST_COMPLETE)
- return -EIO;
-
- off += ec_sdo_entry_format_data(entry, &request, buffer);
-
- ec_sdo_request_clear(&request);
- return off;
-}
-
-/*****************************************************************************/
-
-/**
- * Show an Sdo entry as Sysfs attribute.
- * /return size of bytes written to buffer.
- */
-
-ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
- struct attribute *attr,
- char *buffer
- )
-{
- ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
-
- if (attr == &attr_info) {
- return ec_sdo_entry_info(entry, buffer);
- }
- else if (attr == &attr_value) {
- return ec_sdo_entry_read_value(entry, buffer);
- }
-
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Sdo request constructor.
-*/
-
-void ec_sdo_request_init_read(
- ec_sdo_request_t *req, /**< Sdo request */
- ec_slave_t *slave, /**< Slave owning the Sdo. */
- uint16_t index, /**< Sdo index. */
- uint8_t subindex /**< Sdo subindex. */
- )
-{
- req->slave = slave;
- req->index = index;
- req->subindex = subindex;
- req->data = NULL;
- req->size = 0;
- req->state = EC_REQUEST_QUEUED;
-}
-
-/*****************************************************************************/
-
-/**
- Sdo request destructor.
-*/
-
-void ec_sdo_request_clear(ec_sdo_request_t *req /**< Sdo request */)
-{
- if (req->data) kfree(req->data);
-}
-
-/*****************************************************************************/