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

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 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     7

 *  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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

    15

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

    19

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

    20

 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/delay.h>

    43

    44

#include "globals.h"

    45

#include "slave.h"

    46

#include "command.h"

    47

#include "master.h"

    48

    49

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

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

int ec_slave_fetch_categories(ec_slave_t *);

    56

ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);

    57

ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

    58

                                 const char *, size_t);

    59

    60

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

    61

    62

/** \cond */

    63

    64

EC_SYSFS_READ_ATTR(ring_position);

    65

EC_SYSFS_READ_ATTR(coupler_address);

    66

EC_SYSFS_READ_ATTR(vendor_name);

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EC_SYSFS_READ_ATTR(product_name);

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EC_SYSFS_READ_ATTR(product_desc);

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EC_SYSFS_READ_ATTR(sii_name);

    70

EC_SYSFS_READ_ATTR(type);

    71

EC_SYSFS_READ_WRITE_ATTR(state);

    73

    74

static struct attribute *def_attrs[] = {

    75

    &attr_ring_position,

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    &attr_coupler_address,

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    &attr_vendor_name,

    78

    &attr_product_name,

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    &attr_product_desc,

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    &attr_sii_name,

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    &attr_type,

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    &attr_state,

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    NULL,

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};

    86

    87

static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_attribute,

    89

    .store = ec_store_slave_attribute

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};

    91

    92

static struct kobj_type ktype_ec_slave = {

    93

    .release = ec_slave_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

    96

};

    97

    98

/** \endcond */

    99

   100

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

   101

   102

/**

   103

   Slave constructor.

   104

   \return 0 in case of success, else < 0

   105

*/

   106

   107

int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */

   108

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

   109

                  uint16_t ring_position, /**< ring position */

   110

                  uint16_t station_address /**< station address to configure */

   111

                  )

   112

{

   113

    unsigned int i;

   114

   115

    slave->ring_position = ring_position;

   116

    slave->station_address = station_address;

   117

   118

    // init kobject and add it to the hierarchy

   119

    memset(&slave->kobj, 0x00, sizeof(struct kobject));

   120

    kobject_init(&slave->kobj);

   121

    slave->kobj.ktype = &ktype_ec_slave;

   122

    slave->kobj.parent = &master->kobj;

   123

    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

   124

        EC_ERR("Failed to set kobject name.\n");

   125

        kobject_put(&slave->kobj);

   126

        return -1;

   127

    }

   128

   129

    slave->master = master;

   130

    slave->coupler_index = 0;

   131

    slave->coupler_subindex = 0xFFFF;

   132

    slave->base_type = 0;

   133

    slave->base_revision = 0;

   134

    slave->base_build = 0;

   135

    slave->base_fmmu_count = 0;

   136

    slave->base_sync_count = 0;

   137

    slave->sii_alias = 0;

   138

    slave->sii_vendor_id = 0;

   139

    slave->sii_product_code = 0;

   140

    slave->sii_revision_number = 0;

   141

    slave->sii_serial_number = 0;

   142

    slave->sii_rx_mailbox_offset = 0;

   143

    slave->sii_rx_mailbox_size = 0;

   144

    slave->sii_tx_mailbox_offset = 0;

   145

    slave->sii_tx_mailbox_size = 0;

   146

    slave->sii_mailbox_protocols = 0;

   147

    slave->type = NULL;

   148

    slave->registered = 0;

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    slave->fmmu_count = 0;

   152

    slave->eeprom_group = NULL;

   153

    slave->eeprom_image = NULL;

   154

    slave->eeprom_order = NULL;

   155

    slave->eeprom_name = NULL;

   156

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

   157

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   158

    slave->state_error = 0;

   159

    slave->online = 1;

   160

   161

    ec_command_init(&slave->mbox_command);

   162

   163

    INIT_LIST_HEAD(&slave->eeprom_strings);

   164

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   165

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   166

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   167

   168

    for (i = 0; i < 4; i++) {

   169

        slave->dl_link[i] = 0;

   170

        slave->dl_loop[i] = 0;

   171

        slave->dl_signal[i] = 0;

   172

        slave->sii_physical_layer[i] = 0xFF;

   173

    }

   174

   175

    return 0;

   176

}

   177

   178

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

   179

   180

/**

   181

   Slave destructor.

   182

*/

   183

   184

void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

   185

{

   186

    ec_slave_t *slave;

   187

    ec_eeprom_string_t *string, *next_str;

   188

    ec_eeprom_sync_t *sync, *next_sync;

   189

    ec_eeprom_pdo_t *pdo, *next_pdo;

   190

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   191

    ec_sdo_t *sdo, *next_sdo;

   192

    ec_sdo_entry_t *en, *next_en;

   193

   194

    slave = container_of(kobj, ec_slave_t, kobj);

   195

   196

    // free all string objects

   197

    list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {

   198

        list_del(&string->list);

   199

        kfree(string);

   200

    }

   201

   202

    // free all sync managers

   203

    list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {

   204

        list_del(&sync->list);

   205

        kfree(sync);

   206

    }

   207

   208

    // free all PDOs

   209

    list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {

   210

        list_del(&pdo->list);

   211

        if (pdo->name) kfree(pdo->name);

   212

   213

        // free all PDO entries

   214

        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

   215

            list_del(&entry->list);

   216

            if (entry->name) kfree(entry->name);

   217

            kfree(entry);

   218

        }

   219

   220

        kfree(pdo);

   221

    }

   222

   223

    if (slave->eeprom_group) kfree(slave->eeprom_group);

   224

    if (slave->eeprom_image) kfree(slave->eeprom_image);

   225

    if (slave->eeprom_order) kfree(slave->eeprom_order);

   226

    if (slave->eeprom_name) kfree(slave->eeprom_name);

   227

   228

    // free all SDOs

   229

    list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {

   230

        list_del(&sdo->list);

   231

        if (sdo->name) kfree(sdo->name);

   232

   233

        // free all SDO entries

   234

        list_for_each_entry_safe(en, next_en, &sdo->entries, list) {

   235

            list_del(&en->list);

   236

            kfree(en);

   237

        }

   238

        kfree(sdo);

   239

    }

   240

   243

    ec_command_clear(&slave->mbox_command);

   244

}

   245

   246

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

   247

   248

/**

   249

   Reads all necessary information from a slave.

   250

   \return 0 in case of success, else < 0

   251

*/

   252

   253

int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT slave */)

   254

{

   255

    ec_command_t *command;

   256

    unsigned int i;

   257

    uint16_t dl_status;

   258

   259

    command = &slave->master->simple_command;

   260

   261

    // read base data

   262

    if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;

   263

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   264

        EC_ERR("Reading base data from slave %i failed!\n",

   265

               slave->ring_position);

   266

        return -1;

   267

    }

   268

   269

    slave->base_type =       EC_READ_U8 (command->data);

   270

    slave->base_revision =   EC_READ_U8 (command->data + 1);

   271

    slave->base_build =      EC_READ_U16(command->data + 2);

   272

    slave->base_fmmu_count = EC_READ_U8 (command->data + 4);

   273

    slave->base_sync_count = EC_READ_U8 (command->data + 5);

   274

   275

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

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        slave->base_fmmu_count = EC_MAX_FMMUS;

   277

   278

    // read data link status

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    if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;

   280

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   281

        EC_ERR("Reading DL status from slave %i failed!\n",

   282

               slave->ring_position);

   283

        return -1;

   284

    }

   285

   286

    dl_status = EC_READ_U16(command->data);

   287

    for (i = 0; i < 4; i++) {

   288

        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;

   289

        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;

   290

        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;

   291

    }

   292

   293

    // read EEPROM data

   294

    if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))

   295

        return -1;

   296

    if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))

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        return -1;

   298

    if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))

   299

        return -1;

   300

    if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))

   301

        return -1;

   302

    if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))

   303

        return -1;

   304

    if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))

   305

        return -1;

   306

    if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))

   307

        return -1;

   308

    if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))

   309

        return -1;

   310

    if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))

   311

        return -1;

   312

    if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))

   313

        return -1;

   314

   315

    if (unlikely(ec_slave_fetch_categories(slave))) {

   316

        EC_ERR("Failed to fetch category data!\n");

   317

        return -1;

   318

    }

   319

   320

    return 0;

   321

}

   322

   323

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

   324

   325

/**

   326

   Reads 16 bit from the slave information interface (SII).

   327

   \return 0 in case of success, else < 0

   328

*/

   329

   330

int ec_slave_sii_read16(ec_slave_t *slave,

   331

                        /**< EtherCAT slave */

   332

                        uint16_t offset,

   333

                        /**< address of the SII register to read */

   334

                        uint16_t *target

   335

                        /**< target memory */

   336

                        )

   337

{

   338

    ec_command_t *command;

   339

    cycles_t start, end, timeout;

   340

   341

    command = &slave->master->simple_command;

   342

   343

    // initiate read operation

   344

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   345

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   346

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   347

    EC_WRITE_U32(command->data + 2, offset);

   348

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   349

        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

   350

        return -1;

   351

    }

   352

   353

    start = get_cycles();

   354

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   355

   356

    while (1)

   357

    {

   358

        udelay(10);

   359

   360

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   361

            return -1;

   362

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   363

            EC_ERR("Getting SII-read status failed on slave %i!\n",

   364

                   slave->ring_position);

   365

            return -1;

   366

        }

   367

   368

        end = get_cycles();

   369

   370

        // check for "busy bit"

   371

        if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {

   372

            *target = EC_READ_U16(command->data + 6);

   373

            return 0;

   374

        }

   375

   376

        if (unlikely((end - start) >= timeout)) {

   377

            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);

   378

            return -1;

   379

        }

   380

    }

   381

}

   382

   383

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

   384

   385

/**

   386

   Reads 32 bit from the slave information interface (SII).

   387

   \return 0 in case of success, else < 0

   388

*/

   389

   390

int ec_slave_sii_read32(ec_slave_t *slave,

   391

                        /**< EtherCAT slave */

   392

                        uint16_t offset,

   393

                        /**< address of the SII register to read */

   394

                        uint32_t *target

   395

                        /**< target memory */

   396

                        )

   397

{

   398

    ec_command_t *command;

   399

    cycles_t start, end, timeout;

   400

   401

    command = &slave->master->simple_command;

   402

   403

    // initiate read operation

   404

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   405

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   406

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   407

    EC_WRITE_U32(command->data + 2, offset);

   408

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   409

        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

   410

        return -1;

   411

    }

   412

   413

    start = get_cycles();

   414

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   415

   416

    while (1)

   417

    {

   418

        udelay(10);

   419

   420

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   421

            return -1;

   422

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   423

            EC_ERR("Getting SII-read status failed on slave %i!\n",

   424

                   slave->ring_position);

   425

            return -1;

   426

        }

   427

   428

        end = get_cycles();

   429

   430

        // check "busy bit"

   431

        if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {

   432

            *target = EC_READ_U32(command->data + 6);

   433

            return 0;

   434

        }

   435

   436

        if (unlikely((end - start) >= timeout)) {

   437

            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);

   438

            return -1;

   439

        }

   440

    }

   441

}

   442

   443

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

   444

   445

/**

   446

   Writes 16 bit of data to the slave information interface (SII).

   447

   \return 0 in case of success, else < 0

   448

*/

   449

   450

int ec_slave_sii_write16(ec_slave_t *slave,

   451

                         /**< EtherCAT slave */

   452

                         uint16_t offset,

   453

                         /**< address of the SII register to write */

   454

                         uint16_t value

   455

                         /**< new value */

   456

                         )

   457

{

   458

    ec_command_t *command;

   459

    cycles_t start, end, timeout;

   460

   461

    command = &slave->master->simple_command;

   462

   463

    EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",

   464

            slave->ring_position, offset, value);

   465

   466

    // initiate write operation

   467

    if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;

   468

    EC_WRITE_U8 (command->data,     0x01); // enable write access

   469

    EC_WRITE_U8 (command->data + 1, 0x02); // request write operation

   470

    EC_WRITE_U32(command->data + 2, offset);

   471

    EC_WRITE_U16(command->data + 6, value);

   472

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   473

        EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);

   474

        return -1;

   475

    }

   476

   477

    start = get_cycles();

   478

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   479

   480

    while (1)

   481

    {

   482

        udelay(10);

   483

   484

        if (ec_command_nprd(command, slave->station_address, 0x502, 2))