git.oblomov.eu Git - linux-2.6/blob - drivers/staging/epl/EplSdoUdpu.c

   1 /****************************************************************************
   2
   3   (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29
   4       www.systec-electronic.com
   5
   6   Project:      openPOWERLINK
   7
   8   Description:  source file for SDO/UDP-Protocolabstractionlayer module
   9
  10   License:
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  21        documentation and/or other materials provided with the distribution.
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  39     POSSIBILITY OF SUCH DAMAGE.
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  41     Severability Clause:
  42
  43         If a provision of this License is or becomes illegal, invalid or
  44         unenforceable in any jurisdiction, that shall not affect:
  45         1. the validity or enforceability in that jurisdiction of any other
  46            provision of this License; or
  47         2. the validity or enforceability in other jurisdictions of that or
  48            any other provision of this License.
  49
  50   -------------------------------------------------------------------------
  51
  52                 $RCSfile: EplSdoUdpu.c,v $
  53
  54                 $Author: D.Krueger $
  55
  56                 $Revision: 1.8 $  $Date: 2008/10/17 15:32:32 $
  57
  58                 $State: Exp $
  59
  60                 Build Environment:
  61                     GCC V3.4
  62
  63   -------------------------------------------------------------------------
  64
  65   Revision History:
  66
  67   2006/06/26 k.t.:   start of the implementation
  68
  69 ****************************************************************************/
  70
  71 #include "user/EplSdoUdpu.h"
  72
  73 #if (((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
  74
  75 #include "SocketLinuxKernel.h"
  76 #include <linux/completion.h>
  77 #include <linux/sched.h>
  78
  79 /***************************************************************************/
  80 /*                                                                         */
  81 /*                                                                         */
  82 /*          G L O B A L   D E F I N I T I O N S                            */
  83 /*                                                                         */
  84 /*                                                                         */
  85 /***************************************************************************/
  86
  87 //---------------------------------------------------------------------------
  88 // const defines
  89 //---------------------------------------------------------------------------
  90
  91 #ifndef EPL_SDO_MAX_CONNECTION_UDP
  92 #define EPL_SDO_MAX_CONNECTION_UDP  5
  93 #endif
  94
  95 //---------------------------------------------------------------------------
  96 // local types
  97 //---------------------------------------------------------------------------
  98
  99 typedef struct {
 100         unsigned long m_ulIpAddr;       // in network byte order
 101         unsigned int m_uiPort;  // in network byte order
 102
 103 } tEplSdoUdpCon;
 104
 105 // instance table
 106 typedef struct {
 107         tEplSdoUdpCon m_aSdoAbsUdpConnection[EPL_SDO_MAX_CONNECTION_UDP];
 108         tEplSequLayerReceiveCb m_fpSdoAsySeqCb;
 109         SOCKET m_UdpSocket;
 110
 111         struct completion m_CompletionUdpThread;
 112         int m_ThreadHandle;
 113         int m_iTerminateThread;
 114 } tEplSdoUdpInstance;
 115
 116 //---------------------------------------------------------------------------
 117 // modul globale vars
 118 //---------------------------------------------------------------------------
 119
 120 static tEplSdoUdpInstance SdoUdpInstance_g;
 121
 122 //---------------------------------------------------------------------------
 123 // local function prototypes
 124 //---------------------------------------------------------------------------
 125
 126 static int EplSdoUdpThread(void *pArg_p);
 127
 128 /***************************************************************************/
 129 /*                                                                         */
 130 /*                                                                         */
 131 /*          C L A S S  <EPL-SDO-UDP-Layer>                                 */
 132 /*                                                                         */
 133 /*                                                                         */
 134 /***************************************************************************/
 135 //
 136 // Description: Protocolabstraction layer for UDP
 137 //
 138 //
 139 /***************************************************************************/
 140
 141 //=========================================================================//
 142 //                                                                         //
 143 //          P U B L I C   F U N C T I O N S                                //
 144 //                                                                         //
 145 //=========================================================================//
 146
 147 //---------------------------------------------------------------------------
 148 //
 149 // Function:    EplSdoUdpuInit
 150 //
 151 // Description: init first instance of the module
 152 //
 153 //
 154 //
 155 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 156 //                                  callback-function
 157 //
 158 //
 159 // Returns:     tEplKernel  = Errorcode
 160 //
 161 //
 162 // State:
 163 //
 164 //---------------------------------------------------------------------------
 165 tEplKernel EplSdoUdpuInit(tEplSequLayerReceiveCb fpReceiveCb_p)
 166 {
 167         tEplKernel Ret;
 168
 169         Ret = EplSdoUdpuAddInstance(fpReceiveCb_p);
 170
 171         return Ret;
 172 }
 173
 174 //---------------------------------------------------------------------------
 175 //
 176 // Function:    EplSdoUdpuAddInstance
 177 //
 178 // Description: init additional instance of the module
 179 //              înit socket and start Listen-Thread
 180 //
 181 //
 182 //
 183 // Parameters:  pReceiveCb_p    =   functionpointer to Sdo-Sequence layer
 184 //                                  callback-function
 185 //
 186 //
 187 // Returns:     tEplKernel  = Errorcode
 188 //
 189 //
 190 // State:
 191 //
 192 //---------------------------------------------------------------------------
 193 tEplKernel EplSdoUdpuAddInstance(tEplSequLayerReceiveCb fpReceiveCb_p)
 194 {
 195         tEplKernel Ret;
 196
 197         // set instance variables to 0
 198         EPL_MEMSET(&SdoUdpInstance_g, 0x00, sizeof(SdoUdpInstance_g));
 199
 200         Ret = kEplSuccessful;
 201
 202         // save pointer to callback-function
 203         if (fpReceiveCb_p != NULL) {
 204                 SdoUdpInstance_g.m_fpSdoAsySeqCb = fpReceiveCb_p;
 205         } else {
 206                 Ret = kEplSdoUdpMissCb;
 207                 goto Exit;
 208         }
 209
 210         init_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 211         SdoUdpInstance_g.m_iTerminateThread = 0;
 212         SdoUdpInstance_g.m_ThreadHandle = 0;
 213         SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 214
 215         Ret = EplSdoUdpuConfig(INADDR_ANY, 0);
 216
 217       Exit:
 218         return Ret;
 219 }
 220
 221 //---------------------------------------------------------------------------
 222 //
 223 // Function:    EplSdoUdpuDelInstance
 224 //
 225 // Description: del instance of the module
 226 //              del socket and del Listen-Thread
 227 //
 228 //
 229 //
 230 // Parameters:
 231 //
 232 //
 233 // Returns:     tEplKernel  = Errorcode
 234 //
 235 //
 236 // State:
 237 //
 238 //---------------------------------------------------------------------------
 239 tEplKernel EplSdoUdpuDelInstance(void)
 240 {
 241         tEplKernel Ret;
 242
 243         Ret = kEplSuccessful;
 244
 245         if (SdoUdpInstance_g.m_ThreadHandle != 0) {     // listen thread was started
 246                 // close thread
 247                 SdoUdpInstance_g.m_iTerminateThread = 1;
 248                 /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
 249                 send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
 250                 wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 251                 SdoUdpInstance_g.m_ThreadHandle = 0;
 252         }
 253
 254         if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
 255                 // close socket
 256                 closesocket(SdoUdpInstance_g.m_UdpSocket);
 257                 SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 258         }
 259         return Ret;
 260 }
 261
 262 //---------------------------------------------------------------------------
 263 //
 264 // Function:    EplSdoUdpuConfig
 265 //
 266 // Description: reconfigurate socket with new IP-Address
 267 //              -> needed for NMT ResetConfiguration
 268 //
 269 // Parameters:  ulIpAddr_p      = IpAddress in platform byte order
 270 //              uiPort_p        = port number in platform byte order
 271 //
 272 //
 273 // Returns:     tEplKernel  = Errorcode
 274 //
 275 //
 276 // State:
 277 //
 278 //---------------------------------------------------------------------------
 279 tEplKernel EplSdoUdpuConfig(unsigned long ulIpAddr_p, unsigned int uiPort_p)
 280 {
 281         tEplKernel Ret;
 282         struct sockaddr_in Addr;
 283         int iError;
 284
 285         Ret = kEplSuccessful;
 286
 287         if (uiPort_p == 0) {    // set UDP port to default port number
 288                 uiPort_p = EPL_C_SDO_EPL_PORT;
 289         } else if (uiPort_p > 65535) {
 290                 Ret = kEplSdoUdpSocketError;
 291                 goto Exit;
 292         }
 293
 294         if (SdoUdpInstance_g.m_ThreadHandle != 0) {     // listen thread was started
 295
 296                 // close old thread
 297                 SdoUdpInstance_g.m_iTerminateThread = 1;
 298                 /* kill_proc(SdoUdpInstance_g.m_ThreadHandle, SIGTERM, 1 ); */
 299                 send_sig(SIGTERM, SdoUdpInstance_g.m_ThreadHandle, 1);
 300                 wait_for_completion(&SdoUdpInstance_g.m_CompletionUdpThread);
 301                 SdoUdpInstance_g.m_iTerminateThread = 0;
 302                 SdoUdpInstance_g.m_ThreadHandle = 0;
 303         }
 304
 305         if (SdoUdpInstance_g.m_UdpSocket != INVALID_SOCKET) {
 306                 // close socket
 307                 iError = closesocket(SdoUdpInstance_g.m_UdpSocket);
 308                 SdoUdpInstance_g.m_UdpSocket = INVALID_SOCKET;
 309                 if (iError != 0) {
 310                         Ret = kEplSdoUdpSocketError;
 311                         goto Exit;
 312                 }
 313         }
 314         // create Socket
 315         SdoUdpInstance_g.m_UdpSocket = socket(PF_INET, SOCK_DGRAM, IPPROTO_UDP);
 316         if (SdoUdpInstance_g.m_UdpSocket == INVALID_SOCKET) {
 317                 Ret = kEplSdoUdpNoSocket;
 318                 EPL_DBGLVL_SDO_TRACE0("EplSdoUdpuConfig: socket() failed\n");
 319                 goto Exit;
 320         }
 321         // bind socket
 322         Addr.sin_family = AF_INET;
 323         Addr.sin_port = htons((unsigned short)uiPort_p);
 324         Addr.sin_addr.s_addr = htonl(ulIpAddr_p);
 325         iError =
 326             bind(SdoUdpInstance_g.m_UdpSocket, (struct sockaddr *)&Addr,
 327                  sizeof(Addr));
 328         if (iError < 0) {
 329                 //iError = WSAGetLastError();
 330                 EPL_DBGLVL_SDO_TRACE1
 331                     ("EplSdoUdpuConfig: bind() finished with %i\n", iError);
 332                 Ret = kEplSdoUdpNoSocket;
 333                 goto Exit;
 334         }
 335         // create Listen-Thread
 336         SdoUdpInstance_g.m_ThreadHandle =
 337             kernel_thread(EplSdoUdpThread, &SdoUdpInstance_g, CLONE_KERNEL);
 338         if (SdoUdpInstance_g.m_ThreadHandle == 0) {
 339                 Ret = kEplSdoUdpThreadError;
 340                 goto Exit;
 341         }
 342
 343       Exit:
 344         return Ret;
 345
 346 }
 347
 348 //---------------------------------------------------------------------------
 349 //
 350 // Function:    EplSdoUdpuInitCon
 351 //
 352 // Description: init a new connect
 353 //
 354 //
 355 //
 356 // Parameters:  pSdoConHandle_p = pointer for the new connection handle
 357 //              uiTargetNodeId_p = NodeId of the target node
 358 //
 359 //
 360 // Returns:     tEplKernel  = Errorcode
 361 //
 362 //
 363 // State:
 364 //
 365 //---------------------------------------------------------------------------
 366 tEplKernel EplSdoUdpuInitCon(tEplSdoConHdl *pSdoConHandle_p,
 367                              unsigned int uiTargetNodeId_p)
 368 {
 369         tEplKernel Ret;
 370         unsigned int uiCount;
 371         unsigned int uiFreeCon;
 372         tEplSdoUdpCon *pSdoUdpCon;
 373
 374         Ret = kEplSuccessful;
 375
 376         // get free entry in control structure
 377         uiCount = 0;
 378         uiFreeCon = EPL_SDO_MAX_CONNECTION_UDP;
 379         pSdoUdpCon = &SdoUdpInstance_g.m_aSdoAbsUdpConnection[0];
 380         while (uiCount < EPL_SDO_MAX_CONNECTION_UDP) {
 381                 if ((pSdoUdpCon->m_ulIpAddr & htonl(0xFF)) == htonl(uiTargetNodeId_p)) {        // existing connection to target node found
 382                         // set handle
 383                         *pSdoConHandle_p = (uiCount | EPL_SDO_UDP_HANDLE);
 384
 385                         goto Exit;
 386                 } else if ((pSdoUdpCon->m_ulIpAddr == 0)
 387                            && (pSdoUdpCon->m_uiPort == 0)) {
 388                         uiFreeCon = uiCount;
 389                 }
 390                 uiCount++;
 391                 pSdoUdpCon++;
 392         }
 393
 394         if (uiFreeCon == EPL_SDO_MAX_CONNECTION_UDP) {
 395                 // error no free handle
 396                 Ret = kEplSdoUdpNoFreeHandle;
 397         } else {
 398                 pSdoUdpCon =
 399                     &SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiFreeCon];
 400                 // save infos for connection
 401                 pSdoUdpCon->m_uiPort = htons(EPL_C_SDO_EPL_PORT);
 402                 pSdoUdpCon->m_ulIpAddr = htonl(0xC0A86400 | uiTargetNodeId_p);  // 192.168.100.uiTargetNodeId_p
 403
 404                 // set handle
 405                 *pSdoConHandle_p = (uiFreeCon | EPL_SDO_UDP_HANDLE);
 406
 407         }
 408
 409       Exit:
 410         return Ret;
 411
 412 }
 413
 414 //---------------------------------------------------------------------------
 415 //
 416 // Function:    EplSdoUdpuSendData
 417 //
 418 // Description: send data using exisiting connection
 419 //
 420 //
 421 //
 422 // Parameters:  SdoConHandle_p  = connection handle
 423 //              pSrcData_p      = pointer to data
 424 //              dwDataSize_p    = number of databyte
 425 //                                  -> without asend-header!!!
 426 //
 427 // Returns:     tEplKernel  = Errorcode
 428 //
 429 //
 430 // State:
 431 //
 432 //---------------------------------------------------------------------------
 433 tEplKernel EplSdoUdpuSendData(tEplSdoConHdl SdoConHandle_p,
 434                               tEplFrame *pSrcData_p, u32 dwDataSize_p)
 435 {
 436         tEplKernel Ret;
 437         int iError;
 438         unsigned int uiArray;
 439         struct sockaddr_in Addr;
 440
 441         Ret = kEplSuccessful;
 442
 443         uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 444         if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
 445                 Ret = kEplSdoUdpInvalidHdl;
 446                 goto Exit;
 447         }
 448         //set message type
 449         AmiSetByteToLe(&pSrcData_p->m_le_bMessageType, 0x06);   // SDO
 450         // target node id (for Udp = 0)
 451         AmiSetByteToLe(&pSrcData_p->m_le_bDstNodeId, 0x00);
 452         // set source-nodeid (for Udp = 0)
 453         AmiSetByteToLe(&pSrcData_p->m_le_bSrcNodeId, 0x00);
 454
 455         // calc size
 456         dwDataSize_p += EPL_ASND_HEADER_SIZE;
 457
 458         // call sendto
 459         Addr.sin_family = AF_INET;
 460         Addr.sin_port =
 461             (unsigned short)SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].
 462             m_uiPort;
 463         Addr.sin_addr.s_addr =
 464             SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr;
 465
 466         iError = sendto(SdoUdpInstance_g.m_UdpSocket,   // sockethandle
 467                         (const char *)&pSrcData_p->m_le_bMessageType,   // data to send
 468                         dwDataSize_p,   // number of bytes to send
 469                         0,      // flags
 470                         (struct sockaddr *)&Addr,       // target
 471                         sizeof(struct sockaddr_in));    // sizeof targetadress
 472         if (iError < 0) {
 473                 EPL_DBGLVL_SDO_TRACE1
 474                     ("EplSdoUdpuSendData: sendto() finished with %i\n", iError);
 475                 Ret = kEplSdoUdpSendError;
 476                 goto Exit;
 477         }
 478
 479       Exit:
 480         return Ret;
 481
 482 }
 483
 484 //---------------------------------------------------------------------------
 485 //
 486 // Function:    EplSdoUdpuDelCon
 487 //
 488 // Description: delete connection from intern structure
 489 //
 490 //
 491 //
 492 // Parameters:  SdoConHandle_p  = connection handle
 493 //
 494 // Returns:     tEplKernel  = Errorcode
 495 //
 496 //
 497 // State:
 498 //
 499 //---------------------------------------------------------------------------
 500 tEplKernel EplSdoUdpuDelCon(tEplSdoConHdl SdoConHandle_p)
 501 {
 502         tEplKernel Ret;
 503         unsigned int uiArray;
 504
 505         uiArray = (SdoConHandle_p & ~EPL_SDO_ASY_HANDLE_MASK);
 506
 507         if (uiArray >= EPL_SDO_MAX_CONNECTION_UDP) {
 508                 Ret = kEplSdoUdpInvalidHdl;
 509                 goto Exit;
 510         } else {
 511                 Ret = kEplSuccessful;
 512         }
 513
 514         // delete connection
 515         SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_ulIpAddr = 0;
 516         SdoUdpInstance_g.m_aSdoAbsUdpConnection[uiArray].m_uiPort = 0;
 517
 518       Exit:
 519         return Ret;
 520 }
 521
 522 //=========================================================================//
 523 //                                                                         //
 524 //          P R I V A T E   F U N C T I O N S                              //
 525 //                                                                         //
 526 //=========================================================================//
 527
 528 //---------------------------------------------------------------------------
 529 //
 530 // Function:        EplSdoUdpThread
 531 //
 532 // Description:     thread check socket for new data
 533 //
 534 //
 535 //
 536 // Parameters:      lpParameter = pointer to parameter type tEplSdoUdpThreadPara
 537 //
 538 //
 539 // Returns:         u32   =   errorcode
 540 //
 541 //
 542 // State:
 543 //
 544 //---------------------------------------------------------------------------
 545 static int EplSdoUdpThread(void *pArg_p)
 546 {
 547
 548         tEplSdoUdpInstance *pInstance;
 549         struct sockaddr_in RemoteAddr;
 550         int iError;
 551         int iCount;
 552         int iFreeEntry;
 553         u8 abBuffer[EPL_MAX_SDO_REC_FRAME_SIZE];
 554         unsigned int uiSize;
 555         tEplSdoConHdl SdoConHdl;
 556
 557         pInstance = (tEplSdoUdpInstance *) pArg_p;
 558         daemonize("EplSdoUdpThread");
 559         allow_signal(SIGTERM);
 560
 561         for (; pInstance->m_iTerminateThread == 0;)
 562
 563         {
 564                 // wait for data
 565                 uiSize = sizeof(struct sockaddr);
 566                 iError = recvfrom(pInstance->m_UdpSocket,       // Socket
 567                                   (char *)&abBuffer[0], // buffer for data
 568                                   sizeof(abBuffer),     // size of the buffer
 569                                   0,    // flags
 570                                   (struct sockaddr *)&RemoteAddr,
 571                                   (int *)&uiSize);
 572                 if (iError == -ERESTARTSYS) {
 573                         break;
 574                 }
 575                 if (iError > 0) {
 576                         // get handle for higher layer
 577                         iCount = 0;
 578                         iFreeEntry = 0xFFFF;
 579                         while (iCount < EPL_SDO_MAX_CONNECTION_UDP) {
 580                                 // check if this connection is already known
 581                                 if ((pInstance->m_aSdoAbsUdpConnection[iCount].
 582                                      m_ulIpAddr == RemoteAddr.sin_addr.s_addr)
 583                                     && (pInstance->
 584                                         m_aSdoAbsUdpConnection[iCount].
 585                                         m_uiPort == RemoteAddr.sin_port)) {
 586                                         break;
 587                                 }
 588
 589                                 if ((pInstance->m_aSdoAbsUdpConnection[iCount].
 590                                      m_ulIpAddr == 0)
 591                                     && (pInstance->
 592                                         m_aSdoAbsUdpConnection[iCount].
 593                                         m_uiPort == 0)
 594                                     && (iFreeEntry == 0xFFFF))
 595                                 {
 596                                         iFreeEntry = iCount;
 597                                 }
 598
 599                                 iCount++;
 600                         }
 601
 602                         if (iCount == EPL_SDO_MAX_CONNECTION_UDP) {
 603                                 // connection unknown
 604                                 // see if there is a free handle
 605                                 if (iFreeEntry != 0xFFFF) {
 606                                         // save adress infos
 607                                         pInstance->
 608                                             m_aSdoAbsUdpConnection[iFreeEntry].
 609                                             m_ulIpAddr =
 610                                             RemoteAddr.sin_addr.s_addr;
 611                                         pInstance->
 612                                             m_aSdoAbsUdpConnection[iFreeEntry].
 613                                             m_uiPort = RemoteAddr.sin_port;
 614                                         // call callback
 615                                         SdoConHdl = iFreeEntry;
 616                                         SdoConHdl |= EPL_SDO_UDP_HANDLE;
 617                                         // offset 4 -> start of SDO Sequence header
 618                                         pInstance->m_fpSdoAsySeqCb(SdoConHdl,
 619                                                                    (tEplAsySdoSeq
 620                                                                     *) &
 621                                                                    abBuffer[4],
 622                                                                    (iError -
 623                                                                     4));
 624                                 } else {
 625                                         EPL_DBGLVL_SDO_TRACE0
 626                                             ("Error in EplSdoUdpThread() no free handle\n");
 627                                 }
 628
 629                         } else {
 630                                 // known connection
 631                                 // call callback with correct handle
 632                                 SdoConHdl = iCount;
 633                                 SdoConHdl |= EPL_SDO_UDP_HANDLE;
 634                                 // offset 4 -> start of SDO Sequence header
 635                                 pInstance->m_fpSdoAsySeqCb(SdoConHdl,
 636                                                            (tEplAsySdoSeq *) &
 637                                                            abBuffer[4],
 638                                                            (iError - 4));
 639                         }
 640                 }               // end of  if(iError!=SOCKET_ERROR)
 641         }                       // end of for(;;)
 642
 643         complete_and_exit(&SdoUdpInstance_g.m_CompletionUdpThread, 0);
 644         return 0;
 645 }
 646
 647 #endif // end of #if(((EPL_MODULE_INTEGRATION) & (EPL_MODULE_SDO_UDP)) != 0)
 648
 649 // EOF