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/******************************************************************************

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 *

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *  vim: expandtab

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 *

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 *****************************************************************************/

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    32

/**

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   \file

    34

   EtherCAT slave configuration methods.

    35

*/

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    37

/*****************************************************************************/

    38

    39

#include <linux/module.h>

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#include <linux/slab.h>

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#include "globals.h"

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#include "master.h"

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#include "voe_handler.h"

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    46

#include "slave_config.h"

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    48

/*****************************************************************************/

    49

    50

/** Slave configuration constructor.

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 *

    52

 * See ecrt_master_slave_config() for the usage of the \a alias and \a

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 * position parameters.

    54

 */

    55

void ec_slave_config_init(

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        ec_slave_config_t *sc, /**< Slave configuration. */

    57

        ec_master_t *master, /**< EtherCAT master. */

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        uint16_t alias, /**< Slave alias. */

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        uint16_t position, /**< Slave position. */

    60

        uint32_t vendor_id, /**< Expected vendor ID. */

    61

        uint32_t product_code /**< Expected product code. */

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        )

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{

    64

    unsigned int i;

    65

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    sc->master = master;

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    68

    sc->alias = alias;

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    sc->position = position;

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    sc->vendor_id = vendor_id;

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    sc->product_code = product_code;

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    sc->watchdog_divider = 0; // use default

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    sc->watchdog_intervals = 0; // use default

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    sc->slave = NULL;

    76

    77

    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)

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        ec_sync_config_init(&sc->sync_configs[i]);

    79

    80

    sc->used_fmmus = 0;

    81

    sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;

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    sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;

    83

    sc->dc_assign_activate = 0x0000;

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    sc->dc_sync[0].cycle_time = 0x00000000;

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    sc->dc_sync[1].cycle_time = 0x00000000;

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    sc->dc_sync[0].shift_time = 0x00000000;

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    sc->dc_sync[1].shift_time = 0x00000000;

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    89

    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    INIT_LIST_HEAD(&sc->voe_handlers);

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    INIT_LIST_HEAD(&sc->soe_configs);

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}

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    95

/*****************************************************************************/

    96

    97

/** Slave configuration destructor.

    98

 *

    99

 * Clears and frees a slave configuration object.

   100

 */

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void ec_slave_config_clear(

   102

        ec_slave_config_t *sc /**< Slave configuration. */

   103

        )

   104

{

   105

    unsigned int i;

   106

    ec_sdo_request_t *req, *next_req;

   107

    ec_voe_handler_t *voe, *next_voe;

   108

    ec_soe_request_t *soe, *next_soe;

   109

   110

    ec_slave_config_detach(sc);

   111

   112

    // Free sync managers

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    for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)

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        ec_sync_config_clear(&sc->sync_configs[i]);

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   116

    // free all SDO configurations

   117

    list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // free all SDO requests

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    list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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   130

    // free all VoE handlers

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    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {

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        list_del(&voe->list);

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        ec_voe_handler_clear(voe);

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        kfree(voe);

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    }

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    // free all SoE configurations

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    list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {

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        list_del(&soe->list);

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        ec_soe_request_clear(soe);

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        kfree(soe);

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    }

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}

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/*****************************************************************************/

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   147

/** Prepares an FMMU configuration.

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 *

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 * Configuration data for the FMMU is saved in the slave config structure and

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 * is written to the slave during the configuration. The FMMU configuration

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 * is done in a way, that the complete data range of the corresponding sync

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 * manager is covered. Seperate FMMUs are configured for each domain. If the

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 * FMMU configuration is already prepared, the function does nothing and

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 * returns with success.

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 *

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 * \retval >=0 Success, logical offset byte address.

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 * \retval  <0 Error code.

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 */

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int ec_slave_config_prepare_fmmu(

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        ec_slave_config_t *sc, /**< Slave configuration. */

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        ec_domain_t *domain, /**< Domain. */

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        uint8_t sync_index, /**< Sync manager index. */

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        ec_direction_t dir /**< PDO direction. */

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        )

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{

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    unsigned int i;

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    ec_fmmu_config_t *fmmu;

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    // FMMU configuration already prepared?

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    for (i = 0; i < sc->used_fmmus; i++) {

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        fmmu = &sc->fmmu_configs[i];

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        if (fmmu->domain == domain && fmmu->sync_index == sync_index)

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            return fmmu->logical_start_address;

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    }

   175

   176

    if (sc->used_fmmus == EC_MAX_FMMUS) {

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        EC_CONFIG_ERR(sc, "FMMU limit reached!\n");

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        return -EOVERFLOW;

   179

    }

   180

   181

    fmmu = &sc->fmmu_configs[sc->used_fmmus++];

   182

   183

    down(&sc->master->master_sem);

   184

    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);

   185

    up(&sc->master->master_sem);

   186

   187

    return fmmu->logical_start_address;

   188

}

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   190

/*****************************************************************************/

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   192

/** Attaches the configuration to the addressed slave object.

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 *

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 * \retval  0 Success.

   195

 * \retval <0 Error code.

   196

 */

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int ec_slave_config_attach(

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        ec_slave_config_t *sc /**< Slave configuration. */

   199

        )

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{

   201

    ec_slave_t *slave;

   202

   203

    if (sc->slave)

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        return 0; // already attached

   205

   206

    if (!(slave = ec_master_find_slave(

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                    sc->master, sc->alias, sc->position))) {

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        EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n");

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        return -ENOENT;

   210

    }

   211

   212

    if (slave->config) {

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        EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u"

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                " already has a configuration!\n", slave->ring_position);

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        return -EEXIST;

   216

    }

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   218

    if (

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#ifdef EC_IDENT_WILDCARDS

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            sc->vendor_id != 0xffffffff &&

   221

#endif

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            slave->sii.vendor_id != sc->vendor_id

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       ) {

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        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching vendor ID (0x%08X)"

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                " for configuration (0x%08X).\n",

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                slave->ring_position, slave->sii.vendor_id, sc->vendor_id);

   227

        return -EINVAL;

   228

    }

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   230

    if (

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#ifdef EC_IDENT_WILDCARDS

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            sc->product_code != 0xffffffff &&

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#endif

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            slave->sii.product_code != sc->product_code

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       ) {

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        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching product code (0x%08X)"

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                " for configuration (0x%08X).\n",

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                slave->ring_position, slave->sii.product_code,

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                sc->product_code);

   240

        return -EINVAL;

   241

    }

   242

   243

    // attach slave

   244

    slave->config = sc;

   245

    sc->slave = slave;

   246

   247

    EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);

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    return 0;

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}

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   251

/*****************************************************************************/

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   253

/** Detaches the configuration from a slave object.

   254

 */

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void ec_slave_config_detach(

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        ec_slave_config_t *sc /**< Slave configuration. */

   257

        )

   258

{

   259

    if (sc->slave) {

   260

        sc->slave->config = NULL;

   261

        sc->slave = NULL;

   262

    }

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}

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   265

/*****************************************************************************/

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   267

/** Loads the default PDO assignment from the slave object.

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 */

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void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

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{

   271

    uint8_t sync_index;

   272

    ec_sync_config_t *sync_config;

   273

    const ec_sync_t *sync;

   274

   275

    if (!sc->slave)

   276

        return;

   277

   278

    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {

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        sync_config = &sc->sync_configs[sync_index];

   280

        if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {

   281

            sync_config->dir = ec_sync_default_direction(sync);

   282

            if (sync_config->dir == EC_DIR_INVALID)

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                EC_SLAVE_WARN(sc->slave,

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                        "SM%u has an invalid direction field!\n", sync_index);

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            ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);

   286

        }

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    }

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}

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   290

/*****************************************************************************/

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   292

/** Loads the default mapping for a PDO from the slave object.

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 */

   294

void ec_slave_config_load_default_mapping(

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        const ec_slave_config_t *sc,

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        ec_pdo_t *pdo

   297

        )

   298

{

   299

    unsigned int i;

   300

    const ec_sync_t *sync;

   301

    const ec_pdo_t *default_pdo;

   302

   303

    if (!sc->slave)

   304

        return;

   305

   306

    EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n",

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            pdo->index);

   308

   309

    // find PDO in any sync manager (it could be reassigned later)

   310

    for (i = 0; i < sc->slave->sii.sync_count; i++) {

   311

        sync = &sc->slave->sii.syncs[i];

   312

   313

        list_for_each_entry(default_pdo, &sync->pdos.list, list) {

   314

            if (default_pdo->index != pdo->index)

   315

                continue;

   316

   317

            if (default_pdo->name) {

   318

                EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n",

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                        default_pdo->name);

   320

   321

                // take PDO name from assigned one

   322

                ec_pdo_set_name(pdo, default_pdo->name);

   323

            }

   324

   325

            // copy entries (= default PDO mapping)

   326

            if (ec_pdo_copy_entries(pdo, default_pdo))

   327

                return;

   328

   329

            if (sc->master->debug_level) {

   330

                const ec_pdo_entry_t *entry;

   331

                list_for_each_entry(entry, &pdo->entries, list) {

   332

                    EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n",

   333

                            entry->index, entry->subindex);

   334

                }

   335

            }

   336

   337

            return;

   338

        }

   339

    }

   340

   341

    EC_CONFIG_DBG(sc, 1, "No default mapping found.\n");

   342

}

   343

   344

/*****************************************************************************/

   345

   346

/** Get the number of SDO configurations.

   347

 *

   348

 * \return Number of SDO configurations.

   349

 */

   350

unsigned int ec_slave_config_sdo_count(

   351

        const ec_slave_config_t *sc /**< Slave configuration. */

   352

        )

   353

{

   354

    const ec_sdo_request_t *req;

   355

    unsigned int count = 0;

   356

   357

    list_for_each_entry(req, &sc->sdo_configs, list) {

   358

        count++;

   359

    }

   360

   361

    return count;

   362

}

   363

   364

/*****************************************************************************/

   365

   366

/** Finds an SDO configuration via its position in the list.

   367

 *

   368

 * Const version.

   369

 */

   370

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   371

        const ec_slave_config_t *sc, /**< Slave configuration. */

   372

        unsigned int pos /**< Position in the list. */

   373

        )

   374

{

   375

    const ec_sdo_request_t *req;

   376

   377

    list_for_each_entry(req, &sc->sdo_configs, list) {

   378

        if (pos--)

   379

            continue;

   380

        return req;

   381

    }

   382

   383

    return NULL;

   384

}

   385

   386

/*****************************************************************************/

   387

   388

/** Get the number of IDN configurations.

   389

 *

   390

 * \return Number of SDO configurations.

   391

 */

   392

unsigned int ec_slave_config_idn_count(

   393

        const ec_slave_config_t *sc /**< Slave configuration. */

   394

        )

   395

{

   396

    const ec_soe_request_t *req;

   397

    unsigned int count = 0;

   398

   399

    list_for_each_entry(req, &sc->soe_configs, list) {

   400

        count++;

   401

    }

   402

   403

    return count;

   404

}

   405

   406

/*****************************************************************************/

   407

   408

/** Finds an IDN configuration via its position in the list.

   409

 *

   410

 * Const version.

   411

 */

   412

const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(

   413

        const ec_slave_config_t *sc, /**< Slave configuration. */

   414

        unsigned int pos /**< Position in the list. */

   415

        )

   416

{

   417

    const ec_soe_request_t *req;

   418

   419

    list_for_each_entry(req, &sc->soe_configs, list) {

   420

        if (pos--)

   421

            continue;

   422

        return req;

   423

    }

   424

   425

    return NULL;

   426

}

   427

   428

/*****************************************************************************/

   429

   430

/** Finds a VoE handler via its position in the list.

   431

 */

   432

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   433

        ec_slave_config_t *sc, /**< Slave configuration. */

   434

        unsigned int pos /**< Position in the list. */

   435

        )

   436

{

   437

    ec_sdo_request_t *req;

   438

   439

    list_for_each_entry(req, &sc->sdo_requests, list) {

   440

        if (pos--)

   441

            continue;

   442

        return req;

   443

    }

   444

   445

    return NULL;

   446

}

   447

   448

/*****************************************************************************/

   449

   450

/** Finds a VoE handler via its position in the list.

   451

 */

   452

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   453

        ec_slave_config_t *sc, /**< Slave configuration. */

   454

        unsigned int pos /**< Position in the list. */

   455

        )

   456

{

   457

    ec_voe_handler_t *voe;

   458

   459

    list_for_each_entry(voe, &sc->voe_handlers, list) {

   460

        if (pos--)

   461

            continue;

   462

        return voe;

   463

    }

   464

   465

    return NULL;

   466

}

   467

   468

/******************************************************************************

   469

 *  Application interface

   470

 *****************************************************************************/

   471

   472

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   473

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   474

{

   475

    ec_sync_config_t *sync_config;

   476

   477

    EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p,"

   478

            " sync_index = %u, dir = %i, watchdog_mode = %i)\n",

   479

            sc, sync_index, dir, watchdog_mode);

   480

   481

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   482

        EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);

   483

        return -ENOENT;

   484

    }

   485

   486

    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {

   487

        EC_CONFIG_ERR(sc, "Invalid direction %u!\n", (unsigned int) dir);

   488

        return -EINVAL;

   489

    }

   490

   491

    sync_config = &sc->sync_configs[sync_index];

   492

    sync_config->dir = dir;

   493

    sync_config->watchdog_mode = watchdog_mode;

   494

    return 0;

   495