fp@409: /******************************************************************************
fp@409:  *
fp@409:  *  $Id$
fp@409:  *
fp@1685:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@409:  *
fp@409:  *  This file is part of the IgH EtherCAT Master.
fp@409:  *
fp@1685:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1685:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1685:  *  published by the Free Software Foundation.
fp@1685:  *
fp@1685:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1685:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1685:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1685:  *  Public License for more details.
fp@1685:  *
fp@1685:  *  You should have received a copy of the GNU General Public License along
fp@1685:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@409:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@409:  *
fp@1685:  *  Using the EtherCAT technology and brand is permitted in compliance with
fp@1685:  *  the industrial property and similar rights of Beckhoff Automation GmbH.
fp@409:  *
fp@409:  *****************************************************************************/
fp@409: 
fp@862: /** \file
fp@1686:  * Canopen over EtherCAT SDO request functions.
fp@862:  */
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@409: #include <linux/module.h>
fp@881: #include <linux/jiffies.h>
fp@409: 
fp@847: #include "sdo_request.h"
fp@409: 
fp@409: /*****************************************************************************/
fp@409: 
fp@1686: /** Default timeout in ms to wait for SDO transfer responses.
fp@1053:  */
fp@1053: #define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000
fp@1053: 
fp@1053: /*****************************************************************************/
fp@1053: 
fp@852: void ec_sdo_request_clear_data(ec_sdo_request_t *);
fp@852: 
fp@852: /*****************************************************************************/
fp@852: 
fp@861: /** State type translation table.
fp@861:  */
fp@862: static const ec_sdo_request_state_t state_translation_table[] = {
fp@861:     EC_SDO_REQUEST_UNUSED,  // EC_REQUEST_INIT,
fp@861:     EC_SDO_REQUEST_BUSY,    // EC_REQUEST_QUEUED,
fp@861:     EC_SDO_REQUEST_BUSY,    // EC_REQUEST_BUSY,
fp@861:     EC_SDO_REQUEST_SUCCESS, // EC_REQUEST_SUCCESS,
fp@861:     EC_SDO_REQUEST_ERROR    // EC_REQUEST_FAILURE
fp@861: };
fp@861: 
fp@861: /*****************************************************************************/
fp@861: 
fp@1686: /** SDO request constructor.
fp@758:  */
fp@847: void ec_sdo_request_init(
fp@1686:         ec_sdo_request_t *req /**< SDO request. */
fp@831:         )
fp@831: {
fp@430:     req->data = NULL;
fp@854:     req->mem_size = 0;
fp@854:     req->data_size = 0;
fp@1055:     req->dir = EC_DIR_INVALID;
fp@1035:     req->issue_timeout = 0; // no timeout
fp@1053:     req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;
fp@861:     req->state = EC_REQUEST_INIT;
fp@1037:     req->abort_code = 0x00000000;
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@430: 
fp@1686: /** SDO request destructor.
fp@847:  */
fp@847: void ec_sdo_request_clear(
fp@1686:         ec_sdo_request_t *req /**< SDO request. */
fp@847:         )
fp@430: {
fp@852:     ec_sdo_request_clear_data(req);
fp@430: }
fp@430: 
fp@430: /*****************************************************************************/
fp@852: 
fp@1686: /** Copy another SDO request.
fp@1676:  *
fp@1676:  * \attention Only the index subindex and data are copied.
fp@1676:  */
fp@1676: int ec_sdo_request_copy(
fp@1692:         ec_sdo_request_t *req, /**< SDO request. */
fp@1692:         const ec_sdo_request_t *other /**< Other SDO request to copy from. */
fp@1676:         )
fp@1676: {
fp@1676:     req->index = other->index;
fp@1676:     req->subindex = other->subindex;
fp@1676:     return ec_sdo_request_copy_data(req, other->data, other->data_size);
fp@1676: }
fp@1676: 
fp@1676: /*****************************************************************************/
fp@1676: 
fp@1686: /** SDO request destructor.
fp@852:  */
fp@852: void ec_sdo_request_clear_data(
fp@1686:         ec_sdo_request_t *req /**< SDO request. */
fp@852:         )
fp@852: {
fp@852:     if (req->data) {
fp@852:         kfree(req->data);
fp@852:         req->data = NULL;
fp@852:     }
fp@852: 
fp@854:     req->mem_size = 0;
fp@854:     req->data_size = 0;
fp@852: }
fp@852: 
fp@852: /*****************************************************************************/
fp@852: 
fp@1686: /** Set the SDO address.
fp@852:  */
fp@854: void ec_sdo_request_address(
fp@1686:         ec_sdo_request_t *req, /**< SDO request. */
fp@1686:         uint16_t index, /**< SDO index. */
fp@1686:         uint8_t subindex /**< SDO subindex. */
fp@852:         )
fp@852: {
fp@852:     req->index = index;
fp@852:     req->subindex = subindex;
fp@852: }
fp@852: 
fp@852: /*****************************************************************************/
fp@854: 
fp@854: /** Pre-allocates the data memory.
fp@854:  *
fp@854:  * If the \a mem_size is already bigger than \a size, nothing is done.
fp@854:  */
fp@854: int ec_sdo_request_alloc(
fp@1686:         ec_sdo_request_t *req, /**< SDO request. */
fp@854:         size_t size /**< Data size to allocate. */
fp@854:         )
fp@854: {
fp@854:     if (size <= req->mem_size)
fp@854:         return 0;
fp@854: 
fp@854:     ec_sdo_request_clear_data(req);
fp@854: 
fp@854:     if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
fp@1686:         EC_ERR("Failed to allocate %u bytes of SDO memory.\n", size);
fp@854:         return -1;
fp@854:     }
fp@854: 
fp@854:     req->mem_size = size;
fp@854:     req->data_size = 0;
fp@854:     return 0;
fp@854: }
fp@854: 
fp@854: /*****************************************************************************/
fp@854: 
fp@1686: /** Copies SDO data from an external source.
fp@854:  *
fp@854:  * If the \a mem_size is to small, new memory is allocated.
fp@854:  */
fp@854: int ec_sdo_request_copy_data(
fp@1686:         ec_sdo_request_t *req, /**< SDO request. */
fp@854:         const uint8_t *source, /**< Source data. */
fp@854:         size_t size /**< Number of bytes in \a source. */
fp@854:         )
fp@854: {
fp@854:     if (ec_sdo_request_alloc(req, size))
fp@854:         return -1;
fp@854: 
fp@854:     memcpy(req->data, source, size);
fp@854:     req->data_size = size;
fp@854:     return 0;
fp@854: }
fp@854: 
fp@880: /*****************************************************************************/
fp@880: 
fp@880: /** Checks, if the timeout was exceeded.
fp@880:  *
fp@880:  * \return non-zero if the timeout was exceeded, else zero.
fp@880:  */
fp@1686: int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< SDO request. */)
fp@880: {
fp@1035:     return req->issue_timeout
fp@1035:         && jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;
fp@880: }
fp@880: 
fp@858: /*****************************************************************************
fp@858:  * Realtime interface.
fp@858:  ****************************************************************************/
fp@858: 
fp@858: void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
fp@858: {
fp@1035:     req->issue_timeout = timeout;
fp@858: }
fp@858: 
fp@858: /*****************************************************************************/
fp@858: 
fp@858: uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
fp@858: {
fp@858:     return req->data;
fp@858: }
fp@858: 
fp@858: /*****************************************************************************/
fp@858: 
fp@869: size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
fp@869: {
fp@869:     return req->data_size;
fp@869: }
fp@869: 
fp@869: /*****************************************************************************/
fp@869: 
fp@861: ec_sdo_request_state_t ecrt_sdo_request_state(const ec_sdo_request_t *req)
fp@861: {
fp@862:    return state_translation_table[req->state];
fp@858: }
fp@858: 
fp@858: /*****************************************************************************/
fp@858: 
fp@858: void ecrt_sdo_request_read(ec_sdo_request_t *req)
fp@854: {
fp@859:     req->dir = EC_DIR_INPUT;
fp@854:     req->state = EC_REQUEST_QUEUED;
fp@1037:     req->abort_code = 0x00000000;
fp@1035:     req->jiffies_start = jiffies;
fp@854: }
fp@854: 
fp@854: /*****************************************************************************/
fp@854: 
fp@858: void ecrt_sdo_request_write(ec_sdo_request_t *req)
fp@854: {
fp@859:     req->dir = EC_DIR_OUTPUT;
fp@854:     req->state = EC_REQUEST_QUEUED;
fp@1037:     req->abort_code = 0x00000000;
fp@1035:     req->jiffies_start = jiffies;
fp@854: }
fp@854: 
fp@854: /*****************************************************************************/
fp@858: 
fp@863: /** \cond */
fp@863: 
fp@858: EXPORT_SYMBOL(ecrt_sdo_request_timeout);
fp@858: EXPORT_SYMBOL(ecrt_sdo_request_data);
fp@869: EXPORT_SYMBOL(ecrt_sdo_request_data_size);
fp@858: EXPORT_SYMBOL(ecrt_sdo_request_state);
fp@858: EXPORT_SYMBOL(ecrt_sdo_request_read);
fp@858: EXPORT_SYMBOL(ecrt_sdo_request_write);
fp@859: 
fp@863: /** \endcond */
fp@863: 
fp@863: /*****************************************************************************/