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Implemented ecrt_master_sdo_upload() and ecrt_master_sdo_download() for kernel 

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This commit is contained in:
Florian Pose 2011-09-15 15:58:58 +02:00
parent a4e72bdd6a
commit 8cf159bc08
3 changed files with 224 additions and 160 deletions
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25
include/ecrt.h
View File

@ -701,14 +701,16 @@ int ecrt_master_get_pdo_entry(
ec_pdo_entry_info_t *entry /**< Pointer to output structure. */
);
/** Executes an SDO write request to download data.
#endif /* #ifndef __KERNEL__ */
/** Executes an SDO download request to write data to a slave.
*
* 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.
* 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 @@ int ecrt_master_sdo_download(
uint32_t *abort_code /**< Abort code of the SDO download. */
);
/** Executes a SDO read request to upload data.
/** Executes an SDO upload request to read data from a slave.
*
* 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.
* 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 @@ int ecrt_master_sdo_upload(
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

156
master/cdev.c
View File

@ -840,88 +840,38 @@ int ec_cdev_ioctl_slave_sdo_upload(
)
{
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))) {
retval = -EFAULT;
return -EFAULT;
}
kref_put(&request->refcount, ec_master_sdo_request_release);
return retval;
return 0;
}
/*****************************************************************************/
@ -934,88 +884,34 @@ int ec_cdev_ioctl_slave_sdo_download(
)
{
ec_ioctl_slave_sdo_download_t data;
ec_master_sdo_request_t* request;
uint8_t *sdo_data;
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);
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(request->req.data,
(void __user *) data.data, data.data_size)) {
kref_put(&request->refcount, ec_master_sdo_request_release);
if (copy_from_user(sdo_data, (void __user *) data.data, data.data_size)) {
kfree(sdo_data);
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);
retval = ecrt_master_sdo_download(master, data.slave_position,
data.sdo_index, data.sdo_entry_subindex, sdo_data, data.data_size,
&data.abort_code);
// 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;
}
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;
}

203
master/master.c
View File

@ -418,7 +418,8 @@ void ec_master_clear_slaves(ec_master_t *master)
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 @@ void ec_master_clear_domains(ec_master_t *master)
{
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 @@ void ec_master_leave_idle_phase(ec_master_t *master /**< EtherCAT master */)
/** 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_domain_t *ecrt_master_create_domain_err(
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 @@ void ecrt_master_deactivate(ec_master_t *master)
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_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)
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 @@ void ecrt_master_application_time(ec_master_t *master, uint64_t app_time)
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();
master->dc_cycles_app_start_time = get_cycles();
#endif
master->dc_jiffies_app_start_time = jiffies;
master->dc_jiffies_app_start_time = jiffies;
master->has_app_time = 1;
}
}
@ -2391,6 +2400,160 @@ uint32_t ecrt_master_sync_monitor_process(ec_master_t *master)
/*****************************************************************************/
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 @@ int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
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 @@ int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
// 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 @@ int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
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 @@ int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
*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_reference_clock);
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);