--- a/master/Kbuild.in Fri Feb 29 08:27:17 2008 +0000
+++ b/master/Kbuild.in Fri Feb 29 12:19:48 2008 +0000
@@ -33,11 +33,32 @@
obj-m := ec_master.o
-ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu_config.o \
- slave.o slave_config.o pdo_mapping.o datagram.o domain.o mailbox.o \
- canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o \
- fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave_scan.o fsm_slave_config.o \
- fsm_master.o xmldev.o
+ec_master-objs := \
+ datagram.o \
+ device.o \
+ domain.o \
+ fmmu_config.o \
+ fsm_change.o \
+ fsm_coe.o \
+ fsm_coe_map.o \
+ fsm_master.o \
+ fsm_pdo_config.o \
+ fsm_pdo_mapping.o \
+ fsm_sii.o \
+ fsm_slave_config.o \
+ fsm_slave_scan.o \
+ mailbox.o \
+ master.o \
+ module.o \
+ pdo.o \
+ pdo_mapping.o \
+ sdo.o \
+ sdo_entry.o \
+ sdo_request.o \
+ slave.o \
+ slave_config.o \
+ sync.o \
+ xmldev.o
ifeq (@ENABLE_EOE@,1)
ec_master-objs += ethernet.o
--- a/master/Makefile.am Fri Feb 29 08:27:17 2008 +0000
+++ b/master/Makefile.am Fri Feb 29 12:19:48 2008 +0000
@@ -33,32 +33,34 @@
EXTRA_DIST = \
Kbuild.in \
- canopen.c canopen.h \
datagram.c datagram.h \
debug.c debug.h \
device.c device.h \
- pdo.c pdo.h \
- sync.c sync.h \
- fmmu_config.c fmmu_config.h \
domain.c domain.h \
doxygen.c \
ethernet.c ethernet.h \
- fsm_sii.c fsm_sii.h \
+ fmmu_config.c fmmu_config.h \
fsm_change.c fsm_change.h \
fsm_coe.c fsm_coe.h \
fsm_coe_map.c fsm_coe_map.h \
+ fsm_master.c fsm_master.h \
+ fsm_pdo_config.c fsm_pdo_config.h \
fsm_pdo_mapping.c fsm_pdo_mapping.h \
- fsm_pdo_config.c fsm_pdo_config.h \
+ fsm_sii.c fsm_sii.h \
+ fsm_slave_config.c fsm_slave_config.h \
fsm_slave_scan.c fsm_slave_scan.h \
- fsm_slave_config.c fsm_slave_config.h \
- fsm_master.c fsm_master.h \
globals.h \
mailbox.c mailbox.h \
master.c master.h \
module.c \
+ pdo.c pdo.h \
+ pdo_mapping.c pdo_mapping.h \
+ sdo.c sdo.h \
+ sdo_entry.c sdo_entry.h \
+ sdo_request.c sdo_request.h \
slave.c slave.h \
slave_config.c slave_config.h \
- pdo_mapping.c pdo_mapping.h \
+ sync.c sync.h \
xmldev.c xmldev.h
modules:
--- 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);
-}
-
-/*****************************************************************************/
--- a/master/canopen.h Fri Feb 29 08:27:17 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,123 +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
- EtherCAT CANopen structures.
-*/
-
-/*****************************************************************************/
-
-#ifndef _EC_CANOPEN_H_
-#define _EC_CANOPEN_H_
-
-#include <linux/list.h>
-#include <linux/kobject.h>
-
-#include "globals.h"
-#include "slave.h"
-
-/*****************************************************************************/
-
-/** CANopen Sdo.
- */
-struct ec_sdo {
- struct kobject kobj; /**< kobject */
- struct list_head list; /**< list item */
- ec_slave_t *slave; /**< parent slave */
- uint16_t index; /**< Sdo index */
- uint8_t object_code; /**< object code */
- char *name; /**< Sdo name */
- uint8_t subindices; /**< subindices */
- struct list_head entries; /**< entry list */
-};
-
-/*****************************************************************************/
-
-/** CANopen Sdo entry.
- */
-typedef struct {
- struct kobject kobj; /**< kobject */
- struct list_head list; /**< list item */
- ec_sdo_t *sdo; /**< parent Sdo */
- uint8_t subindex; /**< entry subindex */
- uint16_t data_type; /**< entry data type */
- uint16_t bit_length; /**< entry length in bit */
- char *description; /**< entry description */
-} ec_sdo_entry_t;
-
-/*****************************************************************************/
-
-/** CANopen Sdo configuration data.
- */
-typedef struct {
- struct list_head list; /**< list item */
- uint16_t index; /**< Sdo index */
- uint8_t subindex; /**< Sdo subindex */
- uint8_t *data; /**< pointer to Sdo data */
- size_t size; /**< size of Sdo data */
-}
-ec_sdo_data_t;
-
-/*****************************************************************************/
-
-/**
- CANopen Sdo request.
-*/
-
-typedef struct {
- struct list_head list; /**< list item */
- ec_slave_t *slave; /**< Slave owning the Sdo. */
- uint16_t index; /**< Sdo index. */
- uint8_t subindex; /**< Sdo subindex. */
- uint8_t *data; /**< pointer to Sdo data */
- size_t size; /**< size of Sdo data */
- ec_request_state_t state; /**< Sdo request state */
-} ec_sdo_request_t;
-
-/*****************************************************************************/
-
-int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
-void ec_sdo_destroy(ec_sdo_t *);
-ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);
-
-int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);
-void ec_sdo_entry_destroy(ec_sdo_entry_t *);
-
-void ec_sdo_request_init_read(ec_sdo_request_t *, ec_slave_t *, uint16_t,
- uint8_t);
-void ec_sdo_request_clear(ec_sdo_request_t *);
-
-/*****************************************************************************/
-
-#endif
--- a/master/fsm_coe.h Fri Feb 29 08:27:17 2008 +0000
+++ b/master/fsm_coe.h Fri Feb 29 12:19:48 2008 +0000
@@ -45,7 +45,8 @@
#include "../include/ecrt.h"
#include "datagram.h"
#include "slave.h"
-#include "canopen.h"
+#include "sdo.h"
+#include "sdo_request.h"
/*****************************************************************************/
--- a/master/fsm_coe_map.c Fri Feb 29 08:27:17 2008 +0000
+++ b/master/fsm_coe_map.c Fri Feb 29 12:19:48 2008 +0000
@@ -41,7 +41,7 @@
#include "globals.h"
#include "master.h"
#include "mailbox.h"
-#include "canopen.h"
+#include "sdo_request.h"
#include "fsm_coe_map.h"
/*****************************************************************************/
@@ -179,7 +179,7 @@
ec_pdo_mapping_clear_pdos(&fsm->mapping);
- ec_sdo_request_init_read(&fsm->request, slave, fsm->sync_sdo_index, 0);
+ ec_sdo_request_init(&fsm->request, slave, fsm->sync_sdo_index, 0);
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -233,7 +233,7 @@
)
{
if (fsm->sync_subindex <= fsm->sync_subindices) {
- ec_sdo_request_init_read(&fsm->request, fsm->slave,
+ ec_sdo_request_init(&fsm->request, fsm->slave,
fsm->sync_sdo_index, fsm->sync_subindex);
fsm->state = ec_fsm_coe_map_state_pdo;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -290,7 +290,7 @@
list_add_tail(&fsm->pdo->list, &fsm->mapping.pdos);
- ec_sdo_request_init_read(&fsm->request, fsm->slave, fsm->pdo->index, 0);
+ ec_sdo_request_init(&fsm->request, fsm->slave, fsm->pdo->index, 0);
fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -336,7 +336,7 @@
)
{
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
- ec_sdo_request_init_read(&fsm->request, fsm->slave,
+ ec_sdo_request_init(&fsm->request, fsm->slave,
fsm->pdo->index, fsm->pdo_subindex);
fsm->state = ec_fsm_coe_map_state_pdo_entry;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
--- a/master/fsm_master.h Fri Feb 29 08:27:17 2008 +0000
+++ b/master/fsm_master.h Fri Feb 29 12:19:48 2008 +0000
@@ -45,7 +45,7 @@
#include "globals.h"
#include "datagram.h"
-#include "canopen.h"
+#include "sdo_request.h"
#include "fsm_slave_config.h"
#include "fsm_slave_scan.h"
#include "fsm_coe_map.h"
--- a/master/globals.h Fri Feb 29 08:27:17 2008 +0000
+++ b/master/globals.h Fri Feb 29 12:19:48 2008 +0000
@@ -198,8 +198,7 @@
EC_REQUEST_IN_PROGRESS,
EC_REQUEST_COMPLETE,
EC_REQUEST_FAILURE
-}
-ec_request_state_t;
+} ec_request_state_t;
/*****************************************************************************/
@@ -213,7 +212,6 @@
/*****************************************************************************/
typedef struct ec_slave ec_slave_t; /**< \see ec_slave. */
-typedef struct ec_sdo ec_sdo_t; /**< \see ec_sdo */
/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/sdo.c Fri Feb 29 12:19:48 2008 +0000
@@ -0,0 +1,218 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 Sdo functions.
+*/
+
+/*****************************************************************************/
+
+#include <linux/module.h>
+
+#include "master.h"
+
+#include "sdo.h"
+
+/*****************************************************************************/
+
+ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
+void ec_sdo_clear(struct kobject *);
+
+/*****************************************************************************/
+
+/** \cond */
+
+EC_SYSFS_READ_ATTR(info);
+
+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
+};
+
+/** \endcond */
+
+/*****************************************************************************/
+
+/** Sdo constructor.
+ *
+ * \todo Turn parameters.
+ */
+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.
+ *
+ * \retval >0 Pointer to the requested Sdo entry.
+ * \retval NULL Sdo entry not found.
+ */
+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 a Sysfs attribute of an Sdo.
+ *
+ * /return Number of bytes written to buffer.
+ */
+ssize_t ec_show_sdo_attribute(
+ struct kobject *kobj, /**< kobject */
+ struct attribute *attr, /**< Requested attribute. */
+ char *buffer /**< Buffer to write the data in. */
+ )
+{
+ ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
+
+ if (attr == &attr_info) {
+ return ec_sdo_info(sdo, buffer);
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/sdo.h Fri Feb 29 12:19:48 2008 +0000
@@ -0,0 +1,88 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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
+ EtherCAT CANopen Sdo structure.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_SDO_H__
+#define __EC_SDO_H__
+
+#include <linux/list.h>
+#include <linux/kobject.h>
+
+#include "globals.h"
+#include "sdo_entry.h"
+
+/*****************************************************************************/
+
+/** CANopen Sdo.
+ */
+struct ec_sdo {
+ struct kobject kobj; /**< kobject */
+ struct list_head list; /**< list item */
+ ec_slave_t *slave; /**< parent slave */
+ uint16_t index; /**< Sdo index */
+ uint8_t object_code; /**< object code */
+ char *name; /**< Sdo name */
+ uint8_t subindices; /**< subindices */
+ struct list_head entries; /**< entry list */
+};
+
+/*****************************************************************************/
+
+/** CANopen Sdo configuration data.
+ * \todo remove
+ */
+typedef struct {
+ struct list_head list; /**< list item */
+ uint16_t index; /**< Sdo index */
+ uint8_t subindex; /**< Sdo subindex */
+ uint8_t *data; /**< pointer to Sdo data */
+ size_t size; /**< size of Sdo data */
+}
+ec_sdo_data_t;
+
+/*****************************************************************************/
+
+int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
+void ec_sdo_destroy(ec_sdo_t *);
+
+ec_sdo_entry_t *ec_sdo_get_entry(ec_sdo_t *, uint8_t);
+
+/*****************************************************************************/
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/sdo_entry.c Fri Feb 29 12:19:48 2008 +0000
@@ -0,0 +1,327 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 Sdo entry functions.
+*/
+
+/*****************************************************************************/
+
+#include <linux/module.h>
+
+#include "sdo.h"
+#include "sdo_request.h"
+#include "master.h"
+
+#include "sdo_entry.h"
+
+/*****************************************************************************/
+
+ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
+ char *);
+void ec_sdo_entry_clear(struct kobject *);
+
+/*****************************************************************************/
+
+/** \cond */
+
+EC_SYSFS_READ_ATTR(info);
+EC_SYSFS_READ_ATTR(value);
+
+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 entry constructor.
+ *
+ * \todo Turn parameters.
+ */
+int ec_sdo_entry_init(
+ ec_sdo_entry_t *entry, /**< Sdo entry. */
+ uint8_t subindex, /**< 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 the 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 blocking 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(&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 the Sysfs attribute of an Sdo entry.
+ *
+ * /return Number of bytes written to buffer.
+ */
+ssize_t ec_show_sdo_entry_attribute(
+ struct kobject *kobj, /**< kobject. */
+ struct attribute *attr, /**< Sysfs attribute. */
+ char *buffer /**< Target 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;
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/sdo_entry.h Fri Feb 29 12:19:48 2008 +0000
@@ -0,0 +1,75 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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
+ EtherCAT CANopen Sdo entry structure.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_SDO_ENTRY_H__
+#define __EC_SDO_ENTRY_H__
+
+#include <linux/list.h>
+#include <linux/kobject.h>
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+struct ec_sdo;
+typedef struct ec_sdo ec_sdo_t;
+
+/*****************************************************************************/
+
+/** CANopen Sdo entry.
+ */
+typedef struct {
+ struct kobject kobj; /**< kobject */
+ struct list_head list; /**< List item. */
+ ec_sdo_t *sdo; /**< Parent Sdo. */
+ uint8_t subindex; /**< Subindex. */
+ uint16_t data_type; /**< Data type. */
+ uint16_t bit_length; /**< Data size in bit. */
+ char *description; /**< Description. */
+} ec_sdo_entry_t;
+
+/*****************************************************************************/
+
+int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);
+void ec_sdo_entry_destroy(ec_sdo_entry_t *);
+
+/*****************************************************************************/
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/sdo_request.c Fri Feb 29 12:19:48 2008 +0000
@@ -0,0 +1,76 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 Sdo request functions.
+*/
+
+/*****************************************************************************/
+
+#include <linux/module.h>
+
+#include "sdo_request.h"
+
+/*****************************************************************************/
+
+/** Sdo request constructor.
+ */
+void ec_sdo_request_init(
+ 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);
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/sdo_request.h Fri Feb 29 12:19:48 2008 +0000
@@ -0,0 +1,69 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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
+ EtherCAT CANopen Sdo request structure.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_SDO_REQUEST_H__
+#define __EC_SDO_REQUEST_H__
+
+#include <linux/list.h>
+
+#include "globals.h"
+
+/*****************************************************************************/
+
+/** CANopen Sdo request.
+ */
+typedef struct {
+ struct list_head list; /**< List item. */
+ ec_slave_t *slave; /**< Slave. */
+ uint16_t index; /**< Sdo index. */
+ uint8_t subindex; /**< Sdo subindex. */
+ uint8_t *data; /**< Pointer to Sdo data. */
+ size_t size; /**< Size of Sdo data. */
+ ec_request_state_t state; /**< Sdo request state. */
+} ec_sdo_request_t;
+
+/*****************************************************************************/
+
+void ec_sdo_request_init(ec_sdo_request_t *, ec_slave_t *, uint16_t, uint8_t);
+void ec_sdo_request_clear(ec_sdo_request_t *);
+
+/*****************************************************************************/
+
+#endif
--- a/master/slave.h Fri Feb 29 08:27:17 2008 +0000
+++ b/master/slave.h Fri Feb 29 12:19:48 2008 +0000
@@ -50,6 +50,7 @@
#include "datagram.h"
#include "pdo.h"
#include "sync.h"
+#include "sdo.h"
/*****************************************************************************/