diff options
Diffstat (limited to 'drivers/staging/epl/EplSdoUdpu.c')
| -rw-r--r-- | drivers/staging/epl/EplSdoUdpu.c | 650 |
1 files changed, 0 insertions, 650 deletions
diff --git a/drivers/staging/epl/EplSdoUdpu.c b/drivers/staging/epl/EplSdoUdpu.c deleted file mode 100644 index c8e950fa8353..000000000000 --- a/drivers/staging/epl/EplSdoUdpu.c +++ /dev/null @@ -1,650 +0,0 @@ -/**************************************************************************** - - (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 - www.systec-electronic.com - - Project: openPOWERLINK - - Description: source file for SDO/UDP-Protocolabstractionlayer module - - License: - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - 1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - 3. Neither the name of SYSTEC electronic GmbH nor the names of its - contributors may be used to endorse or promote products derived - from this software without prior written permission. For written - permission, please contact info@systec-electronic.com. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - - Severability Clause: - - If a provision of this License is or becomes illegal, invalid or - unenforceable in any jurisdiction, that shall not affect: - 1. the validity or enforceability in that jurisdiction of any other - provision of this License; or - 2. the validity or enforceability in other jurisdictions of that or - any other provision of this License. - - ------------------------------------------------------------------------- - - $RCSfile: EplSdoUdpu.c,v $ - - $Author: D.Krueger $ - - $Revision: 1.8 $ $Date: 2008/10/17 15:32:32 $ - - $State: Exp $ - - Build Environment: - GCC V3.4 - - ------------------------------------------------------------------------- - - Revision History: - - 2006/06/26 k.t.: start of the implementation - -****************************************************************************/ - -#include "user/EplSdoUdpu.h" - -#if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - -#include "SocketLinuxKernel.h" -#include <linux/completion.h> -#include <linux/sched.h> - -/***************************************************************************/ -/* */ -/* */ -/* G L O B A L D E F I N I T I O N S */ -/* */ -/* */ -/***************************************************************************/ - -//--------------------------------------------------------------------------- -// const defines -//--------------------------------------------------------------------------- - -#ifndef EPL_SDO_MAX_CONNECTION_UDP -#define EPL_SDO_MAX_CONNECTION_UDP 5 -#endif - -//--------------------------------------------------------------------------- -// local types -//--------------------------------------------------------------------------- - -typedef struct { - unsigned long m_ulIpAddr; // in network byte order - unsigned int m_uiPort; // in network byte order - -} tEplSdoUdpCon; - -// instance table -typedef struct { - tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP]; - tEplSequLayerReceiveCb m_fpSdoAsySeqCb; - SOCKET m_UdpSocket; - - struct completion m_CompletionUdpThread; - int m_ThreadHandle; - int m_iTerminateThread; -} tEplSdoUdpInstance; - -//--------------------------------------------------------------------------- -// modul globale vars -//--------------------------------------------------------------------------- - -static tEplSdoUdpInstance SdoUdpInstance_g; - -//--------------------------------------------------------------------------- -// local function prototypes -//--------------------------------------------------------------------------- - -static int EplSdoUdpThread(void *pArg_p); - -/***************************************************************************/ -/* */ -/* */ -/* C L A S S <EPL-SDO-UDP-Layer> */ -/* */ -/* */ -/***************************************************************************/ -// -// Description: Protocolabstraction layer for UDP -// -// -/***************************************************************************/ - -//=========================================================================// -// // -// P U B L I C F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: EplSdoUdpuInit -// -// Description: init first instance of the module -// -// -// -// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer -// callback-function -// -// -// Returns: tEplKernel = Errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p) -{ - tEplKernel Ret; - - Ret = EplSdoUdpuAddInstance(fpReceiveCb_p); - - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoUdpuAddInstance -// -// Description: init additional instance of the module -// înit socket and start Listen-Thread -// -// -// -// Parameters: pReceiveCb_p = functionpointer to Sdo-Sequence layer -// callback-function -// -// -// Returns: tEplKernel = Errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p) -{ - tEplKernel Ret; - - // set instance variables to 0 - EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g)); - - Ret = kEplSuccessful; - - // save pointer to callback-function - if (fpReceiveCb_p != NULL) { - SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p; - } else { - Ret = kEplSdoUdpMissCb; - goto Exit; - } - - init_completion(&SdoUdpInstance_g.m_CompletionUdpThread); - SdoUdpInstance_g.m_iTerminateThread = 0; - SdoUdpInstance_g.m_ThreadHandle = 0; - SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET; - - Ret = EplSdoUdpuConfig(INADDR_ANY, 0); - - Exit: - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoUdpuDelInstance -// -// Description: del instance of the module -// del socket and del Listen-Thread -// -// -// -// Parameters: -// -// -// Returns: tEplKernel = Errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoUdpuDelInstance(void) -{ - tEplKernel Ret; - - Ret = kEplSuccessful; - - if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started - // close thread - SdoUdpInstance_g.m_iTerminateThread = 1; - /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */ - send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1); - wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread); - SdoUdpInstance_g.m_ThreadHandle = 0; - } - - if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) { - // close socket - closesocket(SdoUdpInstance_g.m_UdpSocket); - SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET; - } - return Ret; -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoUdpuConfig -// -// Description: reconfigurate socket with new IP-Address -// -> needed for NMT ResetConfiguration -// -// Parameters: ulIpAddr_p = IpAddress in platform byte order -// uiPort_p = port number in platform byte order -// -// -// Returns: tEplKernel = Errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p) -{ - tEplKernel Ret; - struct sockaddr_in Addr; - int iError; - - Ret = kEplSuccessful; - - if (uiPort_p == 0) { // set UDP port to default port number - uiPort_p = EPL_C_SDO_EPL_PORT; - } else if (uiPort_p > 65535) { - Ret = kEplSdoUdpSocketError; - goto Exit; - } - - if (SdoUdpInstance_g.m_ThreadHandle != 0) { // listen thread was started - - // close old thread - SdoUdpInstance_g.m_iTerminateThread = 1; - /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */ - send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1); - wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread); - SdoUdpInstance_g.m_iTerminateThread = 0; - SdoUdpInstance_g.m_ThreadHandle = 0; - } - - if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) { - // close socket - iError = closesocket(SdoUdpInstance_g.m_UdpSocket); - SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET; - if (iError != 0) { - Ret = kEplSdoUdpSocketError; - goto Exit; - } - } - // create Socket - SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP); - if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) { - Ret = kEplSdoUdpNoSocket; - EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n"); - goto Exit; - } - // bind socket - Addr.sin_family = AF_INET; - Addr.sin_port = htons((unsigned short)uiPort_p); - Addr.sin_addr.s_addr = htonl(ulIpAddr_p); - iError = - bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr, - sizeof(Addr)); - if (iError < 0) { - //iError = WSAGetLastError(); - EPL_DBGLVL_SDO_TRACE1 - ("EplSdoUdpuConfig: bind() finished with %i\n", iError); - Ret = kEplSdoUdpNoSocket; - goto Exit; - } - // create Listen-Thread - SdoUdpInstance_g.m_ThreadHandle = - kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g, - CLONE_FS | CLONE_FILES); - if (SdoUdpInstance_g.m_ThreadHandle == 0) { - Ret = kEplSdoUdpThreadError; - goto Exit; - } - - Exit: - return Ret; - -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoUdpuInitCon -// -// Description: init a new connect -// -// -// -// Parameters: pSdoConHandle_p = pointer for the new connection handle -// uiTargetNodeId_p = NodeId of the target node -// -// -// Returns: tEplKernel = Errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoUdpuInitCon(tEplSdoConHdl *pSdoConHandle_p, - unsigned int uiTargetNodeId_p) -{ - tEplKernel Ret; - unsigned int uiCount; - unsigned int uiFreeCon; - tEplSdoUdpCon *pSdoUdpCon; - - Ret = kEplSuccessful; - - // get free entry in control structure - uiCount = 0; - uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP; - pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0]; - while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) { - if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) { // existing connection to target node found - // set handle - *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE); - - goto Exit; - } else if ((pSdoUdpCon->m_ulIpAddr == 0) - && (pSdoUdpCon->m_uiPort == 0)) { - uiFreeCon = uiCount; - } - uiCount++; - pSdoUdpCon++; - } - - if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) { - // error no free handle - Ret = kEplSdoUdpNoFreeHandle; - } else { - pSdoUdpCon = - &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon]; - // save infos for connection - pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT); - pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p); // 192.168.100.uiTargetNodeId_p - - // set handle - *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE); - - } - - Exit: - return Ret; - -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoUdpuSendData -// -// Description: send data using exisiting connection -// -// -// -// Parameters: SdoConHandle_p = connection handle -// pSrcData_p = pointer to data -// dwDataSize_p = number of databyte -// -> without asend-header!!! -// -// Returns: tEplKernel = Errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p, - tEplFrame *pSrcData_p, u32 dwDataSize_p) -{ - tEplKernel Ret; - int iError; - unsigned int uiArray; - struct sockaddr_in Addr; - - Ret = kEplSuccessful; - - uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK); - if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) { - Ret = kEplSdoUdpInvalidHdl; - goto Exit; - } - //set message type - AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06); // SDO - // target node id (for Udp = 0) - AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00); - // set source-nodeid (for Udp = 0) - AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00); - - // calc size - dwDataSize_p += EPL_ASND_HEADER_SIZE; - - // call sendto - Addr.sin_family = AF_INET; - Addr.sin_port = - (unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray]. - m_uiPort; - Addr.sin_addr.s_addr = - SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr; - - iError = sendto(SdoUdpInstance_g.m_UdpSocket, // sockethandle - (const char *)&pSrcData_p->m_le_bMessageType, // data to send - dwDataSize_p, // number of bytes to send - 0, // flags - (struct sockaddr *)&Addr, // target - sizeof(struct sockaddr_in)); // sizeof targetadress - if (iError < 0) { - EPL_DBGLVL_SDO_TRACE1 - ("EplSdoUdpuSendData: sendto() finished with %i\n", iError); - Ret = kEplSdoUdpSendError; - goto Exit; - } - - Exit: - return Ret; - -} - -//--------------------------------------------------------------------------- -// -// Function: EplSdoUdpuDelCon -// -// Description: delete connection from intern structure -// -// -// -// Parameters: SdoConHandle_p = connection handle -// -// Returns: tEplKernel = Errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -tEplKernel EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p) -{ - tEplKernel Ret; - unsigned int uiArray; - - uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK); - - if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) { - Ret = kEplSdoUdpInvalidHdl; - goto Exit; - } else { - Ret = kEplSuccessful; - } - - // delete connection - SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0; - SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0; - - Exit: - return Ret; -} - -//=========================================================================// -// // -// P R I V A T E F U N C T I O N S // -// // -//=========================================================================// - -//--------------------------------------------------------------------------- -// -// Function: EplSdoUdpThread -// -// Description: thread check socket for new data -// -// -// -// Parameters: lpParameter = pointer to parameter type tEplSdoUdpThreadPara -// -// -// Returns: u32 = errorcode -// -// -// State: -// -//--------------------------------------------------------------------------- -static int EplSdoUdpThread(void *pArg_p) -{ - - tEplSdoUdpInstance *pInstance; - struct sockaddr_in RemoteAddr; - int iError; - int iCount; - int iFreeEntry; - u8 abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE]; - unsigned int uiSize; - tEplSdoConHdl SdoConHdl; - - pInstance = (tEplSdoUdpInstance *) pArg_p; - daemonize("EplSdoUdpThread"); - allow_signal(SIGTERM); - - for (; pInstance->m_iTerminateThread == 0;) - - { - // wait for data - uiSize = sizeof(struct sockaddr); - iError = recvfrom(pInstance->m_UdpSocket, // Socket - (char *)&abBuffer[0], // buffer for data - sizeof(abBuffer), // size of the buffer - 0, // flags - (struct sockaddr *)&RemoteAddr, - (int *)&uiSize); - if (iError == -ERESTARTSYS) { - break; - } - if (iError > 0) { - // get handle for higher layer - iCount = 0; - iFreeEntry = 0xFFFF; - while (iCount < EPL_SDO_MAX_CONNECTION_UDP) { - // check if this connection is already known - if ((pInstance->m_aSdoAbsUdpConnection[iCount]. - m_ulIpAddr == RemoteAddr.sin_addr.s_addr) - && (pInstance-> - m_aSdoAbsUdpConnection[iCount]. - m_uiPort == RemoteAddr.sin_port)) { - break; - } - - if ((pInstance->m_aSdoAbsUdpConnection[iCount]. - m_ulIpAddr == 0) - && (pInstance-> - m_aSdoAbsUdpConnection[iCount]. - m_uiPort == 0) - && (iFreeEntry == 0xFFFF)) - { - iFreeEntry = iCount; - } - - iCount++; - } - - if (iCount == EPL_SDO_MAX_CONNECTION_UDP) { - // connection unknown - // see if there is a free handle - if (iFreeEntry != 0xFFFF) { - // save adress infos - pInstance-> - m_aSdoAbsUdpConnection[iFreeEntry]. - m_ulIpAddr = - RemoteAddr.sin_addr.s_addr; - pInstance-> - m_aSdoAbsUdpConnection[iFreeEntry]. - m_uiPort = RemoteAddr.sin_port; - // call callback - SdoConHdl = iFreeEntry; - SdoConHdl |= EPL_SDO_UDP_HANDLE; - // offset 4 -> start of SDO Sequence header - pInstance->m_fpSdoAsySeqCb(SdoConHdl, - (tEplAsySdoSeq - *) & - abBuffer[4], - (iError - - 4)); - } else { - EPL_DBGLVL_SDO_TRACE0 - ("Error in EplSdoUdpThread() no free handle\n"); - } - - } else { - // known connection - // call callback with correct handle - SdoConHdl = iCount; - SdoConHdl |= EPL_SDO_UDP_HANDLE; - // offset 4 -> start of SDO Sequence header - pInstance->m_fpSdoAsySeqCb(SdoConHdl, - (tEplAsySdoSeq *) & - abBuffer[4], - (iError - 4)); - } - } // end of if(iError!=SOCKET_ERROR) - } // end of for(;;) - - complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0); - return 0; -} - -#endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0) - -// EOF |