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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
* Sercos-over-EtherCAT request functions.
*/
/*****************************************************************************/
#include <linux/module.h>
#include <linux/jiffies.h>
#include <linux/slab.h>
#include "soe_request.h"
/*****************************************************************************/
/** Default timeout in ms to wait for SoE responses.
*/
#define EC_SOE_REQUEST_RESPONSE_TIMEOUT 1000
/*****************************************************************************/
void ec_soe_request_clear_data(ec_soe_request_t *);
/*****************************************************************************/
/** SoE request constructor.
*/
void ec_soe_request_init(
ec_soe_request_t *req /**< SoE request. */
)
{
INIT_LIST_HEAD(&req->list);
req->drive_no = 0x00;
req->idn = 0x0000;
req->al_state = EC_AL_STATE_INIT;
req->data = NULL;
req->mem_size = 0;
req->data_size = 0;
req->dir = EC_DIR_INVALID;
req->state = EC_INT_REQUEST_INIT;
req->jiffies_sent = 0U;
req->error_code = 0x0000;
}
/*****************************************************************************/
/** SoE request destructor.
*/
void ec_soe_request_clear(
ec_soe_request_t *req /**< SoE request. */
)
{
ec_soe_request_clear_data(req);
}
/*****************************************************************************/
/** Copy another SoE request.
*
* \return Zero on success, otherwise a negative error code.
*/
int ec_soe_request_copy(
ec_soe_request_t *req, /**< SoE request. */
const ec_soe_request_t *other /**< Other SoE request to copy from. */
)
{
req->drive_no = other->drive_no;
req->idn = other->idn;
req->al_state = other->al_state;
return ec_soe_request_copy_data(req, other->data, other->data_size);
}
/*****************************************************************************/
/** Set drive number.
*/
void ec_soe_request_set_drive_no(
ec_soe_request_t *req, /**< SoE request. */
uint8_t drive_no /** Drive Number. */
)
{
req->drive_no = drive_no;
}
/*****************************************************************************/
/** Set IDN.
*/
void ec_soe_request_set_idn(
ec_soe_request_t *req, /**< SoE request. */
uint16_t idn /** IDN. */
)
{
req->idn = idn;
}
/*****************************************************************************/
/** Free allocated memory.
*/
void ec_soe_request_clear_data(
ec_soe_request_t *req /**< SoE 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_soe_request_alloc(
ec_soe_request_t *req, /**< SoE request. */
size_t size /**< Data size to allocate. */
)
{
if (size <= req->mem_size)
return 0;
ec_soe_request_clear_data(req);
if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
EC_ERR("Failed to allocate %zu bytes of SoE memory.\n", size);
return -ENOMEM;
}
req->mem_size = size;
req->data_size = 0;
return 0;
}
/*****************************************************************************/
/** Copies SoE 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_soe_request_copy_data(
ec_soe_request_t *req, /**< SoE request. */
const uint8_t *source, /**< Source data. */
size_t size /**< Number of bytes in \a source. */
)
{
int ret = ec_soe_request_alloc(req, size);
if (ret < 0)
return ret;
memcpy(req->data, source, size);
req->data_size = size;
return 0;
}
/*****************************************************************************/
/** Copies SoE 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_soe_request_append_data(
ec_soe_request_t *req, /**< SoE request. */
const uint8_t *source, /**< Source data. */
size_t size /**< Number of bytes in \a source. */
)
{
if (req->data_size + size > req->mem_size) {
size_t new_size = req->mem_size ? req->mem_size * 2 : size;
uint8_t *new_data = (uint8_t *) kmalloc(new_size, GFP_KERNEL);
if (!new_data) {
EC_ERR("Failed to allocate %zu bytes of SoE memory.\n",
new_size);
return -ENOMEM;
}
memcpy(new_data, req->data, req->data_size);
kfree(req->data);
req->data = new_data;
req->mem_size = new_size;
}
memcpy(req->data + req->data_size, source, size);
req->data_size += size;
return 0;
}
/*****************************************************************************/
/** Request a read operation.
*/
void ec_soe_request_read(
ec_soe_request_t *req /**< SoE request. */
)
{
req->dir = EC_DIR_INPUT;
req->state = EC_INT_REQUEST_QUEUED;
req->error_code = 0x0000;
}
/*****************************************************************************/
/** Request a write operation.
*/
void ec_soe_request_write(
ec_soe_request_t *req /**< SoE request. */
)
{
req->dir = EC_DIR_OUTPUT;
req->state = EC_INT_REQUEST_QUEUED;
req->error_code = 0x0000;
}
/*****************************************************************************/
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