fp@1831: /******************************************************************************
fp@1831:  *
fp@1831:  *  $Id$
fp@1831:  *
fp@1831:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1831:  *
fp@1831:  *  This file is part of the IgH EtherCAT Master.
fp@1831:  *
fp@1831:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1831:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1831:  *  published by the Free Software Foundation.
fp@1831:  *
fp@1831:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1831:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1831:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1831:  *  Public License for more details.
fp@1831:  *
fp@1831:  *  You should have received a copy of the GNU General Public License along
fp@1831:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1831:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1831:  *
fp@1831:  *  ---
fp@1831:  *
fp@1831:  *  The license mentioned above concerns the source code only. Using the
fp@1831:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1831:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1831:  *
fp@1831:  *****************************************************************************/
fp@1831: 
fp@1831: /** \file
fp@1831:  * Sercos-over-EtherCAT request functions.
fp@1831:  */
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: #include <linux/module.h>
fp@1831: #include <linux/jiffies.h>
fp@1975: #include <linux/slab.h>
fp@1831: 
fp@1831: #include "soe_request.h"
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** Default timeout in ms to wait for SoE responses.
fp@1831:  */
fp@1831: #define EC_SOE_REQUEST_RESPONSE_TIMEOUT 1000
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: void ec_soe_request_clear_data(ec_soe_request_t *);
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** SoE request constructor.
fp@1831:  */
fp@1831: void ec_soe_request_init(
fp@1831:         ec_soe_request_t *req /**< SoE request. */
fp@1831:         )
fp@1831: {
fp@1952:     req->drive_no = 0x00;
fp@1952:     req->idn = 0x0000;
fp@1944:     req->al_state = EC_AL_STATE_INIT;
fp@1831:     req->data = NULL;
fp@1831:     req->mem_size = 0;
fp@1831:     req->data_size = 0;
fp@1831:     req->dir = EC_DIR_INVALID;
fp@1831:     req->state = EC_INT_REQUEST_INIT;
fp@1831:     req->jiffies_sent = 0U;
fp@1831:     req->error_code = 0x0000;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** SoE request destructor.
fp@1831:  */
fp@1831: void ec_soe_request_clear(
fp@1831:         ec_soe_request_t *req /**< SoE request. */
fp@1831:         )
fp@1831: {
fp@1831:     ec_soe_request_clear_data(req);
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1843: /** Copy another SoE request.
fp@1843:  */
fp@1843: int ec_soe_request_copy(
fp@1843:         ec_soe_request_t *req, /**< SoE request. */
fp@1843:         const ec_soe_request_t *other /**< Other SoE request to copy from. */
fp@1843:         )
fp@1843: {
fp@1952:     req->drive_no = other->drive_no;
fp@1843:     req->idn = other->idn;
fp@1944:     req->al_state = other->al_state;
fp@1843:     return ec_soe_request_copy_data(req, other->data, other->data_size);
fp@1843: }
fp@1843: 
fp@1843: /*****************************************************************************/
fp@1843: 
fp@1952: /** Set drive number.
fp@1952:  */
fp@1952: void ec_soe_request_set_drive_no(
fp@1952:         ec_soe_request_t *req, /**< SoE request. */
fp@1952:         uint8_t drive_no /** Drive Number. */
fp@1952:         )
fp@1952: {
fp@1952:     req->drive_no = drive_no;
fp@1952: }
fp@1952: 
fp@1952: /*****************************************************************************/
fp@1952: 
fp@1831: /** Set IDN.
fp@1831:  */
fp@1831: void ec_soe_request_set_idn(
fp@1831:         ec_soe_request_t *req, /**< SoE request. */
fp@1831:         uint16_t idn /** IDN. */
fp@1831:         )
fp@1831: {
fp@1831:     req->idn = idn;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** Free allocated memory.
fp@1831:  */
fp@1831: void ec_soe_request_clear_data(
fp@1831:         ec_soe_request_t *req /**< SoE request. */
fp@1831:         )
fp@1831: {
fp@1831:     if (req->data) {
fp@1831:         kfree(req->data);
fp@1831:         req->data = NULL;
fp@1831:     }
fp@1831: 
fp@1831:     req->mem_size = 0;
fp@1831:     req->data_size = 0;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** Pre-allocates the data memory.
fp@1831:  *
fp@1831:  * If the \a mem_size is already bigger than \a size, nothing is done.
fp@1831:  *
fp@1831:  * \return 0 on success, otherwise -ENOMEM.
fp@1831:  */
fp@1831: int ec_soe_request_alloc(
fp@1831:         ec_soe_request_t *req, /**< SoE request. */
fp@1831:         size_t size /**< Data size to allocate. */
fp@1831:         )
fp@1831: {
fp@1831:     if (size <= req->mem_size)
fp@1831:         return 0;
fp@1831: 
fp@1831:     ec_soe_request_clear_data(req);
fp@1831: 
fp@1831:     if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
fp@1831:         EC_ERR("Failed to allocate %zu bytes of SoE memory.\n", size);
fp@1831:         return -ENOMEM;
fp@1831:     }
fp@1831: 
fp@1831:     req->mem_size = size;
fp@1831:     req->data_size = 0;
fp@1831:     return 0;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: /** Copies SoE data from an external source.
fp@1831:  *
fp@1831:  * If the \a mem_size is to small, new memory is allocated.
fp@1831:  *
fp@1831:  * \retval  0 Success.
fp@1831:  * \retval <0 Error code.
fp@1831:  */
fp@1831: int ec_soe_request_copy_data(
fp@1831:         ec_soe_request_t *req, /**< SoE request. */
fp@1831:         const uint8_t *source, /**< Source data. */
fp@1831:         size_t size /**< Number of bytes in \a source. */
fp@1831:         )
fp@1831: {
fp@1831:     int ret = ec_soe_request_alloc(req, size);
fp@1831:     if (ret < 0)
fp@1831:         return ret;
fp@1831: 
fp@1831:     memcpy(req->data, source, size);
fp@1831:     req->data_size = size;
fp@1831:     return 0;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1864: /** Copies SoE data from an external source.
fp@1864:  *
fp@1864:  * If the \a mem_size is to small, new memory is allocated.
fp@1864:  *
fp@1864:  * \retval  0 Success.
fp@1864:  * \retval <0 Error code.
fp@1864:  */
fp@1864: int ec_soe_request_append_data(
fp@1864:         ec_soe_request_t *req, /**< SoE request. */
fp@1864:         const uint8_t *source, /**< Source data. */
fp@1864:         size_t size /**< Number of bytes in \a source. */
fp@1864:         )
fp@1864: {
fp@1864:     if (req->data_size + size > req->mem_size) {
fp@1864:         size_t new_size = req->mem_size ? req->mem_size * 2 : size;
fp@1864:         uint8_t *new_data = (uint8_t *) kmalloc(new_size, GFP_KERNEL);
fp@1864:         if (!new_data) {
fp@1864:             EC_ERR("Failed to allocate %zu bytes of SoE memory.\n",
fp@1864:                     new_size);
fp@1864:             return -ENOMEM;
fp@1864:         }
fp@1864:         memcpy(new_data, req->data, req->data_size);
fp@1864:         kfree(req->data);
fp@1864:         req->data = new_data;
fp@1864:         req->mem_size = new_size;
fp@1864:     }
fp@1864: 
fp@1864:     memcpy(req->data + req->data_size, source, size);
fp@1864:     req->data_size += size;
fp@1864:     return 0;
fp@1864: }
fp@1864: 
fp@1864: /*****************************************************************************/
fp@1864: 
fp@1907: /** Request a read operation.
fp@1907:  */
fp@1907: void ec_soe_request_read(
fp@1907:         ec_soe_request_t *req /**< SoE request. */
fp@1907:        )
fp@1831: {
fp@1831:     req->dir = EC_DIR_INPUT;
fp@1831:     req->state = EC_INT_REQUEST_QUEUED;
fp@1831:     req->error_code = 0x0000;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1907: /** Request a write operation.
fp@1907:  */
fp@1907: void ec_soe_request_write(
fp@1907:         ec_soe_request_t *req /**< SoE request. */
fp@1907:         )
fp@1831: {
fp@1831:     req->dir = EC_DIR_OUTPUT;
fp@1831:     req->state = EC_INT_REQUEST_QUEUED;
fp@1831:     req->error_code = 0x0000;
fp@1831: }
fp@1831: 
fp@1831: /*****************************************************************************/