--- a/include/ecrt.h Thu Sep 15 15:56:49 2011 +0200
+++ b/include/ecrt.h Thu Sep 15 15:58:58 2011 +0200
@@ -701,14 +701,16 @@
ec_pdo_entry_info_t *entry /**< Pointer to output structure. */
);
-/** Executes an SDO write request to download data.
- *
- * This function operates aside of the normal way to request SDOs. Before the
- * activation of the master, these requests are processed by the master state
- * machine itself. After activation the user has to ensure cyclic processing.
+#endif /* #ifndef __KERNEL__ */
+
+/** Executes an SDO download request to write data to a slave.
+ *
+ * This request is processed by the master state machine. This method blocks,
+ * until the request has been processed and may not be called in realtime
+ * context.
*
* \retval 0 Success.
- * \retval -1 An error occured.
+ * \retval <0 Error code.
*/
int ecrt_master_sdo_download(
ec_master_t *master, /**< EtherCAT master. */
@@ -720,15 +722,14 @@
uint32_t *abort_code /**< Abort code of the SDO download. */
);
-/** Executes a SDO read request to upload data.
- *
- * This function operates aside of the normal way to request SDOs. Before the
- * activation of the master, these requests are processed by the master state
- * machine itself. After activation the user have to ensure cyclic
- * processing.
+/** Executes an SDO upload request to read data from a slave.
+ *
+ * This request is processed by the master state machine. This method blocks,
+ * until the request has been processed and may not be called in realtime
+ * context.
*
* \retval 0 Success.
- * \retval -1 Error occurred.
+ * \retval <0 Error code.
*/
int ecrt_master_sdo_upload(
ec_master_t *master, /**< EtherCAT master. */
@@ -741,8 +742,6 @@
uint32_t *abort_code /**< Abort code of the SDO upload. */
);
-#endif /* #ifndef __KERNEL__ */
-
/** Executes an SoE write request.
*
* Starts writing an IDN and blocks until the request was processed, or an
--- a/master/cdev.c Thu Sep 15 15:56:49 2011 +0200
+++ b/master/cdev.c Thu Sep 15 15:58:58 2011 +0200
@@ -840,182 +840,78 @@
)
{
ec_ioctl_slave_sdo_upload_t data;
- ec_master_sdo_request_t* request;
- int retval;
+ uint8_t *target;
+ int ret;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
- request = kmalloc(sizeof(*request), GFP_KERNEL);
- if (!request)
+ if (!(target = kmalloc(data.target_size, GFP_KERNEL))) {
+ EC_MASTER_ERR(master, "Failed to allocate %u bytes"
+ " for SDO upload.\n", data.target_size);
return -ENOMEM;
- kref_init(&request->refcount);
-
- ec_sdo_request_init(&request->req);
- ec_sdo_request_address(&request->req,
- data.sdo_index, data.sdo_entry_subindex);
- ecrt_sdo_request_read(&request->req);
-
- if (ec_mutex_lock_interruptible(&master->master_mutex)) {
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -EINTR;
- }
- if (!(request->slave = ec_master_find_slave(
- master, 0, data.slave_position))) {
- ec_mutex_unlock(&master->master_mutex);
- EC_MASTER_ERR(master, "Slave %u does not exist!\n",
- data.slave_position);
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -EINVAL;
- }
-
- EC_SLAVE_DBG(request->slave, 1, "Schedule SDO upload request %p.\n",
- request);
-
- // schedule request.
- kref_get(&request->refcount);
- list_add_tail(&request->list, &request->slave->slave_sdo_requests);
-
- ec_mutex_unlock(&master->master_mutex);
-
- // wait for processing through FSM
- if (wait_event_interruptible(request->slave->sdo_queue,
- ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
- (request->req.state == EC_INT_REQUEST_FAILURE)))) {
- // interrupted by signal
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -EINTR;
- }
-
- EC_SLAVE_DBG(request->slave, 1, "Finished SDO upload request %p.\n",
- request);
-
- data.abort_code = request->req.abort_code;
-
- if (request->req.state != EC_INT_REQUEST_SUCCESS) {
- data.data_size = 0;
- if (request->req.errno) {
- retval = -request->req.errno;
- } else {
- retval = -EIO;
- }
- } else {
- if (request->req.data_size > data.target_size) {
- EC_MASTER_ERR(master, "Buffer too small.\n");
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -EOVERFLOW;
- }
- data.data_size = request->req.data_size;
-
+ }
+
+ ret = ecrt_master_sdo_upload(master, data.slave_position,
+ data.sdo_index, data.sdo_entry_subindex, target,
+ data.target_size, &data.data_size, &data.abort_code);
+
+ if (!ret) {
if (copy_to_user((void __user *) data.target,
- request->req.data, data.data_size)) {
- kref_put(&request->refcount, ec_master_sdo_request_release);
+ target, data.data_size)) {
+ kfree(target);
return -EFAULT;
}
- retval = 0;
- }
+ }
+
+ kfree(target);
+
+ if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/** Download SDO.
+ */
+int ec_cdev_ioctl_slave_sdo_download(
+ ec_master_t *master, /**< EtherCAT master. */
+ unsigned long arg /**< ioctl() argument. */
+ )
+{
+ ec_ioctl_slave_sdo_download_t data;
+ uint8_t *sdo_data;
+ int retval;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ return -EFAULT;
+ }
+
+ if (!(sdo_data = kmalloc(data.data_size, GFP_KERNEL))) {
+ EC_MASTER_ERR(master, "Failed to allocate %u bytes"
+ " for SDO download.\n", data.data_size);
+ return -ENOMEM;
+ }
+
+ if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) {
+ kfree(sdo_data);
+ return -EFAULT;
+ }
+
+ retval = ecrt_master_sdo_download(master, data.slave_position,
+ data.sdo_index, data.sdo_entry_subindex, sdo_data, data.data_size,
+ &data.abort_code);
+
+ kfree(sdo_data);
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
retval = -EFAULT;
}
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return retval;
-}
-
-/*****************************************************************************/
-
-/** Download SDO.
- */
-int ec_cdev_ioctl_slave_sdo_download(
- ec_master_t *master, /**< EtherCAT master. */
- unsigned long arg /**< ioctl() argument. */
- )
-{
- ec_ioctl_slave_sdo_download_t data;
- ec_master_sdo_request_t* request;
- int retval;
-
- if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
- return -EFAULT;
- }
-
- // copy data to download
- if (!data.data_size) {
- EC_MASTER_ERR(master, "Zero data size!\n");
- return -EINVAL;
- }
-
- request = kmalloc(sizeof(*request), GFP_KERNEL);
- if (!request)
- return -ENOMEM;
- kref_init(&request->refcount);
-
- ec_sdo_request_init(&request->req);
- ec_sdo_request_address(&request->req,
- data.sdo_index, data.sdo_entry_subindex);
- if (ec_sdo_request_alloc(&request->req, data.data_size)) {
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -ENOMEM;
- }
- if (copy_from_user(request->req.data,
- (void __user *) data.data, data.data_size)) {
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -EFAULT;
- }
- request->req.data_size = data.data_size;
- ecrt_sdo_request_write(&request->req);
-
- if (ec_mutex_lock_interruptible(&master->master_mutex)) {
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -EINTR;
- }
- if (!(request->slave = ec_master_find_slave(
- master, 0, data.slave_position))) {
- ec_mutex_unlock(&master->master_mutex);
- EC_MASTER_ERR(master, "Slave %u does not exist!\n",
- data.slave_position);
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -EINVAL;
- }
-
- EC_SLAVE_DBG(request->slave, 1, "Schedule SDO download request %p.\n",
- request);
-
- // schedule request.
- kref_get(&request->refcount);
- list_add_tail(&request->list, &request->slave->slave_sdo_requests);
-
- ec_mutex_unlock(&master->master_mutex);
-
- // wait for processing through FSM
- if (wait_event_interruptible(request->slave->sdo_queue,
- ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
- (request->req.state == EC_INT_REQUEST_FAILURE)))) {
- // interrupted by signal
- kref_put(&request->refcount, ec_master_sdo_request_release);
- return -EINTR;
- }
-
- EC_SLAVE_DBG(request->slave, 1, "Finished SDO download request %p.\n",
- request);
-
- data.abort_code = request->req.abort_code;
-
- if (request->req.state == EC_INT_REQUEST_SUCCESS) {
- retval = 0;
- } else if (request->req.errno) {
- retval = -request->req.errno;
- } else {
- retval = -EIO;
- }
-
- if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
- retval = -EFAULT;
- }
-
- kref_put(&request->refcount, ec_master_sdo_request_release);
return retval;
}
--- a/master/master.c Thu Sep 15 15:56:49 2011 +0200
+++ b/master/master.c Thu Sep 15 15:58:58 2011 +0200
@@ -418,7 +418,8 @@
wake_up(&master->reg_queue);
}
- // we must lock the io_mutex here because the slave's fsm_datagram will be unqueued
+ // we must lock the io_mutex here because the slave's fsm_datagram
+ // will be unqueued
ec_mutex_lock(&master->io_mutex);
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
@@ -443,7 +444,8 @@
{
ec_domain_t *domain, *next;
- // we must lock the io_mutex here because the domains's datagram will be unqueued
+ // we must lock the io_mutex here because the domains's datagram
+ // will be unqueued
ec_mutex_lock(&master->io_mutex);
list_for_each_entry_safe(domain, next, &master->domains, list) {
list_del(&domain->list);
@@ -568,7 +570,9 @@
/** Transition function from IDLE to OPERATION phase.
*/
-int ec_master_enter_operation_phase(ec_master_t *master /**< EtherCAT master */)
+int ec_master_enter_operation_phase(i
+ ec_master_t *master /**< EtherCAT master */
+ )
{
int ret = 0;
ec_slave_t *slave;
@@ -1940,7 +1944,8 @@
EC_MASTER_DBG(master, 1, "ecrt_master_create_domain(master = 0x%p)\n",
master);
- if (!(domain = (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
+ if (!(domain =
+ (ec_domain_t *) kmalloc(sizeof(ec_domain_t), GFP_KERNEL))) {
EC_MASTER_ERR(master, "Error allocating domain memory!\n");
return ERR_PTR(-ENOMEM);
}
@@ -2075,8 +2080,8 @@
if (!is_eoe_slave) {
ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP);
// mark for reconfiguration, because the master could have no
- // possibility for a reconfiguration between two sequential operation
- // phases.
+ // possibility for a reconfiguration between two sequential
+ // operation phases.
slave->force_config = 1;
}
#else
@@ -2320,7 +2325,10 @@
/*****************************************************************************/
-void ecrt_master_configured_slaves_state(const ec_master_t *master, ec_master_state_t *state)
+void ecrt_master_configured_slaves_state(
+ const ec_master_t *master,
+ ec_master_state_t *state
+ )
{
const ec_slave_config_t *sc;
ec_slave_config_state_t sc_state;
@@ -2344,12 +2352,13 @@
master->app_time = app_time;
if (unlikely(!master->has_app_time)) {
- EC_MASTER_DBG(master, 1, "set application start time = %llu\n",app_time);
- master->app_start_time = app_time;
+ EC_MASTER_DBG(master, 1, "Set application start time = %llu\n",
+ app_time);
+ master->app_start_time = app_time;
#ifdef EC_HAVE_CYCLES
- master->dc_cycles_app_start_time = get_cycles();
-#endif
- master->dc_jiffies_app_start_time = jiffies;
+ master->dc_cycles_app_start_time = get_cycles();
+#endif
+ master->dc_jiffies_app_start_time = jiffies;
master->has_app_time = 1;
}
}
@@ -2391,6 +2400,160 @@
/*****************************************************************************/
+int ecrt_master_sdo_download(ec_master_t *master, uint16_t slave_position,
+ uint16_t index, uint8_t subindex, uint8_t *data,
+ size_t data_size, uint32_t *abort_code)
+{
+ ec_master_sdo_request_t* request;
+ int retval;
+
+ if (!data_size) {
+ EC_MASTER_ERR(master, "Zero data size!\n");
+ return -EINVAL;
+ }
+
+ request = kmalloc(sizeof(*request), GFP_KERNEL);
+ if (!request) {
+ return -ENOMEM;
+ }
+ kref_init(&request->refcount);
+
+ ec_sdo_request_init(&request->req);
+ ec_sdo_request_address(&request->req, index, subindex);
+ if (ec_sdo_request_alloc(&request->req, data_size)) {
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return -ENOMEM;
+ }
+ memcpy(request->req.data, data, data_size);
+ request->req.data_size = data_size;
+ ecrt_sdo_request_write(&request->req);
+
+ if (ec_mutex_lock_interruptible(&master->master_mutex)) {
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return -EINTR;
+ }
+
+ if (!(request->slave = ec_master_find_slave(
+ master, 0, slave_position))) {
+ ec_mutex_unlock(&master->master_mutex);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return -EINVAL;
+ }
+
+ EC_SLAVE_DBG(request->slave, 1, "Schedule SDO download request %p.\n",
+ request);
+
+ // schedule request
+ kref_get(&request->refcount);
+ list_add_tail(&request->list, &request->slave->slave_sdo_requests);
+
+ ec_mutex_unlock(&master->master_mutex);
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(request->slave->sdo_queue,
+ ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
+ (request->req.state == EC_INT_REQUEST_FAILURE)))) {
+ // interrupted by signal
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return -EINTR;
+ }
+
+ EC_SLAVE_DBG(request->slave, 1, "Finished SDO download request %p.\n",
+ request);
+
+ *abort_code = request->req.abort_code;
+
+ if (request->req.state == EC_INT_REQUEST_SUCCESS) {
+ retval = 0;
+ } else if (request->req.errno) {
+ retval = -request->req.errno;
+ } else {
+ retval = -EIO;
+ }
+
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return retval;
+}
+
+/*****************************************************************************/
+
+int ecrt_master_sdo_upload(ec_master_t *master, uint16_t slave_position,
+ uint16_t index, uint8_t subindex, uint8_t *target,
+ size_t target_size, size_t *result_size, uint32_t *abort_code)
+{
+ ec_master_sdo_request_t* request;
+ int retval;
+
+ request = kmalloc(sizeof(*request), GFP_KERNEL);
+ if (!request)
+ return -ENOMEM;
+ kref_init(&request->refcount);
+
+ ec_sdo_request_init(&request->req);
+ ec_sdo_request_address(&request->req, index, subindex);
+ ecrt_sdo_request_read(&request->req);
+
+ if (ec_mutex_lock_interruptible(&master->master_mutex)) {
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return -EINTR;
+ }
+
+ if (!(request->slave = ec_master_find_slave(
+ master, 0, slave_position))) {
+ ec_mutex_unlock(&master->master_mutex);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return -EINVAL;
+ }
+
+ EC_SLAVE_DBG(request->slave, 1, "Schedule SDO upload request %p.\n",
+ request);
+
+ // schedule request
+ kref_get(&request->refcount);
+ list_add_tail(&request->list, &request->slave->slave_sdo_requests);
+
+ ec_mutex_unlock(&master->master_mutex);
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(request->slave->sdo_queue,
+ ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
+ (request->req.state == EC_INT_REQUEST_FAILURE)))) {
+ // interrupted by signal
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return -EINTR;
+ }
+
+ EC_SLAVE_DBG(request->slave, 1, "Finished SDO upload request %p.\n",
+ request);
+
+ *abort_code = request->req.abort_code;
+
+ if (request->req.state != EC_INT_REQUEST_SUCCESS) {
+ *result_size = 0;
+ if (request->req.errno) {
+ retval = -request->req.errno;
+ } else {
+ retval = -EIO;
+ }
+ } else {
+ if (request->req.data_size > target_size) {
+ EC_MASTER_ERR(master, "Buffer too small.\n");
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return -EOVERFLOW;
+ }
+ memcpy(target, request->req.data, request->req.data_size);
+ *result_size = request->req.data_size;
+ retval = 0;
+ }
+
+ kref_put(&request->refcount, ec_master_sdo_request_release);
+ return retval;
+}
+
+/*****************************************************************************/
+
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
uint16_t *error_code)
@@ -2437,7 +2600,8 @@
return -EINVAL;
}
- EC_SLAVE_DBG(request->slave, 1, "Scheduled SoE write request %p.\n",request);
+ EC_SLAVE_DBG(request->slave, 1, "Scheduled SoE write request %p.\n",
+ request);
// schedule SoE write request.
list_add_tail(&request->list, &request->slave->soe_requests);
@@ -2447,7 +2611,8 @@
// wait for processing through FSM
if (wait_event_interruptible(request->slave->soe_queue,
- ((request->req.state == EC_INT_REQUEST_SUCCESS) || (request->req.state == EC_INT_REQUEST_FAILURE)))) {
+ ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
+ (request->req.state == EC_INT_REQUEST_FAILURE)))) {
// interrupted by signal
kref_put(&request->refcount,ec_master_soe_request_release);
return -EINTR;
@@ -2504,11 +2669,13 @@
ec_mutex_unlock(&master->master_mutex);
- EC_SLAVE_DBG(request->slave, 1, "Scheduled SoE read request %p.\n",request);
+ EC_SLAVE_DBG(request->slave, 1, "Scheduled SoE read request %p.\n",
+ request);
// wait for processing through FSM
if (wait_event_interruptible(request->slave->soe_queue,
- ((request->req.state == EC_INT_REQUEST_SUCCESS) || (request->req.state == EC_INT_REQUEST_FAILURE)))) {
+ ((request->req.state == EC_INT_REQUEST_SUCCESS) ||
+ (request->req.state == EC_INT_REQUEST_FAILURE)))) {
// interrupted by signal
kref_put(&request->refcount,ec_master_soe_request_release);
return -EINTR;
@@ -2518,8 +2685,8 @@
*error_code = request->req.error_code;
}
- EC_SLAVE_DBG(request->slave, 1, "SoE request %p read %zd bytes via SoE.\n",
- request,request->req.data_size);
+ EC_SLAVE_DBG(request->slave, 1, "SoE request %p read %zd bytes"
+ " via SoE.\n", request, request->req.data_size);
if (request->req.state != EC_INT_REQUEST_SUCCESS) {
if (result_size) {
@@ -2574,6 +2741,8 @@
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
+EXPORT_SYMBOL(ecrt_master_sdo_download);
+EXPORT_SYMBOL(ecrt_master_sdo_upload);
EXPORT_SYMBOL(ecrt_master_write_idn);
EXPORT_SYMBOL(ecrt_master_read_idn);
EXPORT_SYMBOL(ecrt_master_reset);