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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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 version 2, as
* published by the Free Software Foundation.
*
* 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 license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
* Canopen over EtherCAT SDO request functions.
*/
/*****************************************************************************/
#include <linux/module.h>
#include <linux/jiffies.h>
#include <linux/slab.h>
#include "sdo_request.h"
/*****************************************************************************/
/** Default timeout in ms to wait for SDO transfer responses.
*/
#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 1000
/*****************************************************************************/
void ec_sdo_request_clear_data(ec_sdo_request_t *);
/*****************************************************************************/
/** SDO request constructor.
*/
void ec_sdo_request_init(
ec_sdo_request_t *req /**< SDO request. */
)
{
req->complete_access = 0;
req->data = NULL;
req->mem_size = 0;
req->data_size = 0;
req->dir = EC_DIR_INVALID;
req->issue_timeout = 0; // no timeout
req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;
req->state = EC_INT_REQUEST_INIT;
req->errno = 0;
req->abort_code = 0x00000000;
}
/*****************************************************************************/
/** SDO request destructor.
*/
void ec_sdo_request_clear(
ec_sdo_request_t *req /**< SDO request. */
)
{
ec_sdo_request_clear_data(req);
}
/*****************************************************************************/
/** Copy another SDO request.
*
* \attention Only the index subindex and data are copied.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_sdo_request_copy(
ec_sdo_request_t *req, /**< SDO request. */
const ec_sdo_request_t *other /**< Other SDO request to copy from. */
)
{
req->complete_access = other->complete_access;
req->index = other->index;
req->subindex = other->subindex;
return ec_sdo_request_copy_data(req, other->data, other->data_size);
}
/*****************************************************************************/
/** SDO request destructor.
*/
void ec_sdo_request_clear_data(
ec_sdo_request_t *req /**< SDO request. */
)
{
if (req->data) {
kfree(req->data);
req->data = NULL;
}
req->mem_size = 0;
req->data_size = 0;
}
/*****************************************************************************/
/** Pre-allocates the data memory.
*
* If the \a mem_size is already bigger than \a size, nothing is done.
*
* \return 0 on success, otherwise -ENOMEM.
*/
int ec_sdo_request_alloc(
ec_sdo_request_t *req, /**< SDO request. */
size_t size /**< Data size to allocate. */
)
{
if (size <= req->mem_size)
return 0;
ec_sdo_request_clear_data(req);
if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
EC_ERR("Failed to allocate %zu bytes of SDO memory.\n", size);
return -ENOMEM;
}
req->mem_size = size;
req->data_size = 0;
return 0;
}
/*****************************************************************************/
/** Copies SDO data from an external source.
*
* If the \a mem_size is to small, new memory is allocated.
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ec_sdo_request_copy_data(
ec_sdo_request_t *req, /**< SDO request. */
const uint8_t *source, /**< Source data. */
size_t size /**< Number of bytes in \a source. */
)
{
int ret = ec_sdo_request_alloc(req, size);
if (ret < 0)
return ret;
memcpy(req->data, source, size);
req->data_size = size;
return 0;
}
/*****************************************************************************/
/** Checks, if the timeout was exceeded.
*
* \return non-zero if the timeout was exceeded, else zero.
*/
int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< SDO request. */)
{
return req->issue_timeout
&& jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;
}
/*****************************************************************************
* Application interface.
****************************************************************************/
void ecrt_sdo_request_index(ec_sdo_request_t *req, uint16_t index,
uint8_t subindex)
{
req->index = index;
req->subindex = subindex;
}
/*****************************************************************************/
void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
{
req->issue_timeout = timeout;
}
/*****************************************************************************/
uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
{
return req->data;
}
/*****************************************************************************/
size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
{
return req->data_size;
}
/*****************************************************************************/
ec_request_state_t ecrt_sdo_request_state(const ec_sdo_request_t *req)
{
return ec_request_state_translation_table[req->state];
}
/*****************************************************************************/
void ecrt_sdo_request_read(ec_sdo_request_t *req)
{
req->dir = EC_DIR_INPUT;
req->state = EC_INT_REQUEST_QUEUED;
req->errno = 0;
req->abort_code = 0x00000000;
req->jiffies_start = jiffies;
}
/*****************************************************************************/
void ecrt_sdo_request_write(ec_sdo_request_t *req)
{
req->dir = EC_DIR_OUTPUT;
req->state = EC_INT_REQUEST_QUEUED;
req->errno = 0;
req->abort_code = 0x00000000;
req->jiffies_start = jiffies;
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_sdo_request_index);
EXPORT_SYMBOL(ecrt_sdo_request_timeout);
EXPORT_SYMBOL(ecrt_sdo_request_data);
EXPORT_SYMBOL(ecrt_sdo_request_data_size);
EXPORT_SYMBOL(ecrt_sdo_request_state);
EXPORT_SYMBOL(ecrt_sdo_request_read);
EXPORT_SYMBOL(ecrt_sdo_request_write);
/** \endcond */
/*****************************************************************************/
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