Merge pull request #75 from lrsdnlssn/master

Add/extend support for upload and download callbacks

soes/ecat_slv.c

@@ -40,14 +40,12 @@ extern uint8_t * txpdo;
  * @param[in] sub-index  = sub-index of SDO download request to check
  * @return SDO abort code, or 0 on success
  */
-uint32_t ESC_pre_objecthandler (uint16_t index,
+uint32_t ESC_download_pre_objecthandler (uint16_t index,
       uint8_t subindex,
       void * data,
       size_t size,
       uint16_t flags)
 {
-   uint32_t abort = 0;
-
    if (IS_RXPDO (index) ||
        IS_TXPDO (index) ||
        index == RX_PDO_OBJIDX ||
@@ -55,20 +53,20 @@ uint32_t ESC_pre_objecthandler (uint16_t index,
    {
       if (subindex > 0 && COE_maxSub (index) != 0)
       {
-         abort = ABORT_SUBINDEX0_NOT_ZERO;
+         return ABORT_SUBINDEX0_NOT_ZERO;
       }
    }
 
    if (ESCvar.pre_object_download_hook)
    {
-      abort = (ESCvar.pre_object_download_hook) (index,
+      return (ESCvar.pre_object_download_hook) (index,
             subindex,
             data,
             size,
             flags);
    }
 
-   return abort;
+   return 0;
 }
 
 /** Hook called from the slave stack SDO Download handler to act on
@@ -76,13 +74,57 @@ uint32_t ESC_pre_objecthandler (uint16_t index,
  *
  * @param[in] index      = index of SDO download request to handle
  * @param[in] sub-index  = sub-index of SDO download request to handle
+ * @return SDO abort code, or 0 on success
  */
-void ESC_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags)
+uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags)
 {
    if (ESCvar.post_object_download_hook != NULL)
    {
-      (ESCvar.post_object_download_hook)(index, subindex, flags);
+      return (ESCvar.post_object_download_hook)(index, subindex, flags);
    }
+
+   return 0;
+}
+
+/** Function to pre-qualify the incoming SDO upload.
+ *
+ * @param[in] index      = index of SDO upload request to handle
+ * @param[in] sub-index  = sub-index of SDO upload request to handle
+ * @return SDO abort code, or 0 on success
+ */
+uint32_t ESC_upload_pre_objecthandler (uint16_t index,
+      uint8_t subindex,
+      void * data,
+      size_t size,
+      uint16_t flags)
+{
+   if (ESCvar.pre_object_upload_hook != NULL)
+   {
+      return (ESCvar.pre_object_upload_hook) (index,
+            subindex,
+            data,
+            size,
+            flags);
+   }
+
+   return 0;
+}
+
+/** Hook called from the slave stack SDO Upload handler to act on
+ * user specified Index and Sub-index.
+ *
+ * @param[in] index      = index of SDO upload request to handle
+ * @param[in] sub-index  = sub-index of SDO upload request to handle
+ * @return SDO abort code, or 0 on success
+ */
+uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags)
+{
+   if (ESCvar.post_object_upload_hook != NULL)
+   {
+      return (ESCvar.post_object_upload_hook)(index, subindex, flags);
+   }
+
+   return 0;
 }
 
 /** Hook called from the slave stack ESC_stopoutputs to act on state changes

soes/ecat_slv.h

@@ -1,7 +1,11 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
 #ifndef __ECAT_SLV_H__
 #define __ECAT_SLV_H__
 
-#include "ecat_slv.h"
 #include "options.h"
 #include "esc.h"
 

soes/esc.c

@@ -1165,6 +1165,8 @@ void ESC_config (esc_cfg_t * cfg)
    ESCvar.safeoutput_override = cfg->safeoutput_override;
    ESCvar.pre_object_download_hook = cfg->pre_object_download_hook;
    ESCvar.post_object_download_hook = cfg->post_object_download_hook;
+   ESCvar.pre_object_upload_hook = cfg->pre_object_upload_hook;
+   ESCvar.post_object_upload_hook = cfg->post_object_upload_hook;
    ESCvar.rxpdo_override = cfg->rxpdo_override;
    ESCvar.txpdo_override = cfg->txpdo_override;
    ESCvar.esc_hw_interrupt_enable = cfg->esc_hw_interrupt_enable;

soes/esc.h

@@ -287,7 +287,15 @@ typedef struct esc_cfg
          void * data,
          size_t size,
          uint16_t flags);
-   void (*post_object_download_hook) (uint16_t index,
+   uint32_t (*post_object_download_hook) (uint16_t index,
+         uint8_t subindex,
+         uint16_t flags);
+   uint32_t (*pre_object_upload_hook) (uint16_t index,
+         uint8_t subindex,
+         void * data,
+         size_t size,
+         uint16_t flags);
+   uint32_t (*post_object_upload_hook) (uint16_t index,
          uint8_t subindex,
          uint16_t flags);
    void (*rxpdo_override) (void);
@@ -402,7 +410,15 @@ typedef struct
          void * data,
          size_t size,
          uint16_t flags);
-   void (*post_object_download_hook) (uint16_t index,
+   uint32_t (*post_object_download_hook) (uint16_t index,
+         uint8_t subindex,
+         uint16_t flags);
+   uint32_t (*pre_object_upload_hook) (uint16_t index,
+         uint8_t subindex,
+         void * data,
+         size_t size,
+         uint16_t flags);
+   uint32_t (*post_object_upload_hook) (uint16_t index,
          uint8_t subindex,
          uint16_t flags);
    void (*rxpdo_override) (void);
@@ -436,6 +452,7 @@ typedef struct
    uint16_t entries;
    uint16_t frags;
    uint16_t fragsleft;
+   uint16_t flags;
 
    uint8_t toggle;
 

soes/esc_coe.c

@@ -245,6 +245,7 @@ void SDO_upload (void)
    uint8_t MBXout;
    uint32_t size;
    uint8_t dss;
+   uint32_t abort = 1;
    const _objd *objd;
    coesdo = (_COEsdo *) &MBX[0];
    index = etohs (coesdo->index);
@@ -295,8 +296,17 @@ void SDO_upload (void)
                {
                   /* convert bits to bytes */
                   size = (size + 7) >> 3;
-                  /* use dynamic data */
+                  abort = ESC_upload_pre_objecthandler (index, subindex,
-                  copy2mbx ((objd + nsub)->data, &(coeres->size), size);
+                        (objd + nsub)->data, size, (objd + nsub)->flags);
+                  if (abort == 0)
+                  {
+                     /* use dynamic data */
+                     copy2mbx ((objd + nsub)->data, &(coeres->size), size);
+                  }
+                  else
+                  {
+                     SDO_abort (index, subindex, abort);
+                  }
                }
             }
             else
@@ -319,14 +329,33 @@ void SDO_upload (void)
                   /* signal segmented transfer */
                   ESCvar.segmented = MBXSEU;
                   ESCvar.data = (objd + nsub)->data;
+                  ESCvar.flags = (objd + nsub)->flags;
                }
                else
                {
                   ESCvar.segmented = 0;
                }
                coeres->mbxheader.length = htoes (COE_HEADERSIZE + size);
-               /* use dynamic data */
+               abort = ESC_upload_pre_objecthandler (index, subindex,
-               copy2mbx ((objd + nsub)->data, (&(coeres->size)) + 1, size);
+                     (objd + nsub)->data, size, (objd + nsub)->flags);
+               if (abort == 0)
+               {
+                  /* use dynamic data */
+                  copy2mbx ((objd + nsub)->data, (&(coeres->size)) + 1, size);
+               }
+               else
+               {
+                  SDO_abort (index, subindex, abort);
+               }
+            }
+            if ((abort == 0) && (ESCvar.segmented == 0))
+            {
+               abort = ESC_upload_post_objecthandler (index, subindex,
+                                                      (objd + nsub)->flags);
+               if (abort != 0)
+               {
+                  SDO_abort (index, subindex, abort);
+               }
             }
             MBXcontrol[MBXout].state = MBXstate_outreq;
          }
@@ -352,7 +381,7 @@ void SDO_uploadsegment (void)
 {
    _COEsdo *coesdo, *coeres;
    uint8_t MBXout;
-   uint32_t size, offset;
+   uint32_t size, offset, abort;
    coesdo = (_COEsdo *) &MBX[0];
    MBXout = ESC_claimbuffer ();
    if (MBXout)
@@ -392,6 +421,12 @@ void SDO_uploadsegment (void)
       }
       copy2mbx ((uint8_t *) ESCvar.data + offset, (&(coeres->command)) + 1, size);        //copy to mailbox
 
+      abort = ESC_upload_post_objecthandler (etohs (coesdo->index),
+                                             coesdo->subindex, ESCvar.flags);
+      if (abort != 0)
+      {
+         SDO_abort (etohs (coesdo->index), coesdo->subindex, abort);
+      }
       MBXcontrol[MBXout].state = MBXstate_outreq;
    }
    MBXcontrol[0].state = MBXstate_idle;
@@ -444,7 +479,7 @@ void SDO_download (void)
             actsize = ((objd + nsub)->bitlength + 7) >> 3;
             if (actsize == size)
             {
-               abort = ESC_pre_objecthandler (
+               abort = ESC_download_pre_objecthandler (
                   index,
                   subindex,
                   mbxdata,
@@ -469,7 +504,11 @@ void SDO_download (void)
                      MBXcontrol[MBXout].state = MBXstate_outreq;
                   }
                   /* external object write handler */
-                  ESC_objecthandler (index, subindex, (objd + nsub)->flags);
+                  abort = ESC_download_post_objecthandler (index, subindex, (objd + nsub)->flags);
+                  if (abort != 0)
+                  {
+                     SDO_abort (index, subindex, abort);
+                  }
                }
                else
                {

soes/esc_coe.h

@@ -106,12 +106,18 @@ void COE_pdoPack (uint8_t * buffer, int nmappings, _SMmap * sm);
 void COE_pdoUnpack (uint8_t * buffer, int nmappings, _SMmap * sm);
 uint8_t COE_maxSub (uint16_t index);
 
-extern void ESC_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
+extern uint32_t ESC_download_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
-extern uint32_t ESC_pre_objecthandler (uint16_t index,
+extern uint32_t ESC_download_pre_objecthandler (uint16_t index,
       uint8_t subindex,
       void * data,
       size_t size,
       uint16_t flags);
+extern uint32_t ESC_upload_pre_objecthandler (uint16_t index,
+      uint8_t subindex,
+      void * data,
+      size_t size,
+      uint16_t flags);
+extern uint32_t ESC_upload_post_objecthandler (uint16_t index, uint8_t subindex, uint16_t flags);
 extern const _objectlist SDOobjects[];
 
 #endif