1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

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

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *  vim: expandtab

    29

 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT slave configuration methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/slab.h>

    40

    41

#include "globals.h"

    42

#include "master.h"

    43

#include "voe_handler.h"

    44

    45

#include "slave_config.h"

    46

    47

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

    48

    49

/** Slave configuration constructor.

    50

 *

    51

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

    52

 * position parameters.

    53

 */

    54

void ec_slave_config_init(

    55

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

    56

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

    57

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

    58

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

    59

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

    60

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

    61

        )

    62

{

    63

    unsigned int i;

    64

    65

    sc->master = master;

    66

    67

    sc->alias = alias;

    68

    sc->position = position;

    69

    sc->vendor_id = vendor_id;

    70

    sc->product_code = product_code;

    71

    sc->watchdog_divider = 0; // use default

    72

    sc->watchdog_intervals = 0; // use default

    73

    sc->allow_overlapping_pdos = 0; // default not allowed

    74

    sc->slave = NULL;

    75

    76

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

    77

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

    78

    79

    sc->used_fmmus = 0;

    80

    sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;

    81

    sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;

    82

    sc->dc_assign_activate = 0x0000;

    83

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

    84

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

    85

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

    86

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

    87

    88

    INIT_LIST_HEAD(&sc->sdo_configs);

    89

    INIT_LIST_HEAD(&sc->sdo_requests);

    90

    INIT_LIST_HEAD(&sc->voe_handlers);

    91

    INIT_LIST_HEAD(&sc->soe_configs);

    92

}

    93

    94

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

    95

    96

/** Slave configuration destructor.

    97

 *

    98

 * Clears and frees a slave configuration object.

    99

 */

   100

void ec_slave_config_clear(

   101

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

   102

        )

   103

{

   104

    unsigned int i;

   105

    ec_sdo_request_t *req, *next_req;

   106

    ec_voe_handler_t *voe, *next_voe;

   107

    ec_soe_request_t *soe, *next_soe;

   108

   109

    ec_slave_config_detach(sc);

   110

   111

    // Free sync managers

   112

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

   113

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

   114

   115

    // free all SDO configurations

   116

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

   117

        list_del(&req->list);

   118

        ec_sdo_request_clear(req);

   119

        kfree(req);

   120

    }

   121

   122

    // free all SDO requests

   123

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

   124

        list_del(&req->list);

   125

        ec_sdo_request_clear(req);

   126

        kfree(req);

   127

    }

   128

   129

    // free all VoE handlers

   130

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

   131

        list_del(&voe->list);

   132

        ec_voe_handler_clear(voe);

   133

        kfree(voe);

   134

    }

   135

   136

    // free all SoE configurations

   137

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

   138

        list_del(&soe->list);

   139

        ec_soe_request_clear(soe);

   140

        kfree(soe);

   141

    }

   142

}

   143

   144

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

   145

   146

/** Prepares an FMMU configuration.

   147

 *

   148

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

   149

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

   150

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

   151

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

   152

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

   153

 * returns with success.

   154

 *

   155

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

   156

 * \retval  <0 Error code.

   157

 */

   158

int ec_slave_config_prepare_fmmu(

   159

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

   160

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

   161

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

   162

        ec_direction_t dir /**< PDO direction. */

   163

        )

   164

{

   165

    unsigned int i;

   166

    ec_fmmu_config_t *fmmu;

   167

    ec_fmmu_config_t *prev_fmmu;

   168

    uint32_t fmmu_logical_start_address;

   169

    size_t tx_size;

   170

   171

    // FMMU configuration already prepared?

   172

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

   173

        fmmu = &sc->fmmu_configs[i];

   174

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

   175

            return fmmu->domain_address;

   176

    }

   177

   178

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   179

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

   180

        return -EOVERFLOW;

   181

    }

   182

   183

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

   184

   185

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

   186

    ec_fmmu_config_init(fmmu, sc, sync_index, dir);

   187

    fmmu_logical_start_address = domain->tx_size;

   188

    tx_size = fmmu->data_size;

   189

    if (sc->allow_overlapping_pdos && sc->used_fmmus > 0) {

   190

        prev_fmmu = &sc->fmmu_configs[sc->used_fmmus-1];

   191

        if (fmmu->dir != prev_fmmu->dir && prev_fmmu->tx_size != 0) {

   192

            // prev fmmu has opposite direction

   193

            // and is not already paired with prev-prev fmmu

   194

            prev_fmmu->tx_size = max(fmmu->data_size,prev_fmmu->data_size);

   195

            tx_size = 0;

   196

            fmmu_logical_start_address = prev_fmmu->logical_start_address;

   197

        }

   198

    }

   199

    ec_fmmu_config_domain(fmmu,domain,fmmu_logical_start_address,tx_size);

   200

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

   201

   202

    ++sc->used_fmmus;

   203

    return fmmu->domain_address;

   204

}

   205

   206

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

   207

   208

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

   209

 *

   210

 * \retval  0 Success.

   211

 * \retval <0 Error code.

   212

 */

   213

int ec_slave_config_attach(

   214

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

   215

        )

   216

{

   217

    ec_slave_t *slave;

   218

   219

    if (sc->slave)

   220

        return 0; // already attached

   221

   222

    if (!(slave = ec_master_find_slave(

   223

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

   224

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

   225

        return -ENOENT;

   226

    }

   227

   228

    if (slave->config) {

   229

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

   230

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

   231

        return -EEXIST;

   232

    }

   233

   234

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

   235

            || slave->sii.product_code != sc->product_code) {

   236

        EC_CONFIG_DBG(sc, 1, "Slave %u has an invalid type (0x%08X/0x%08X)"

   237

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

   238

                slave->ring_position, slave->sii.vendor_id,

   239

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

   240

        return -EINVAL;

   241

    }

   242

   243

    // attach slave

   244

    slave->config = sc;

   245

    sc->slave = slave;

   246

   247

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   248

   249

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

   250

   251

    return 0;

   252

}

   253

   254

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

   255

   256

/** Detaches the configuration from a slave object.

   257

 */

   258

void ec_slave_config_detach(

   259

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

   260

        )

   261

{

   262

    if (sc->slave) {

   263

        sc->slave->config = NULL;

   264

        sc->slave = NULL;

   265

    }

   266

}

   267

   268

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

   269

   270

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

   271

 */

   272

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   273

{

   274

    uint8_t sync_index;

   275

    ec_sync_config_t *sync_config;

   276

    const ec_sync_t *sync;

   277

   278

    if (!sc->slave)

   279

        return;

   280

   281

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

   282

        sync_config = &sc->sync_configs[sync_index];

   283

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

   284

            sync_config->dir = ec_sync_default_direction(sync);

   285

            if (sync_config->dir == EC_DIR_INVALID)

   286

                EC_SLAVE_WARN(sc->slave,

   287

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

   288

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

   289

        }

   290

    }

   291

}

   292

   293

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

   294

   295

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

   296

 */

   297

void ec_slave_config_load_default_mapping(

   298

        const ec_slave_config_t *sc,

   299

        ec_pdo_t *pdo

   300

        )

   301

{

   302

    unsigned int i;

   303

    const ec_sync_t *sync;

   304

    const ec_pdo_t *default_pdo;

   305

   306

    if (!sc->slave)

   307

        return;

   308

   309

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

   310

            pdo->index);

   311

   312

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

   313

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

   314

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

   315

   316

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

   317

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

   318

                continue;

   319

   320

            if (default_pdo->name) {

   321

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

   322

                        default_pdo->name);

   323

   324

                // take PDO name from assigned one

   325

                ec_pdo_set_name(pdo, default_pdo->name);

   326

            }

   327

   328

            // copy entries (= default PDO mapping)

   329

            if (ec_pdo_copy_entries(pdo, default_pdo))

   330

                return;

   331

   332

            if (sc->master->debug_level) {

   333

                const ec_pdo_entry_t *entry;

   334

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

   335

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

   336

                            entry->index, entry->subindex);

   337

                }

   338

            }

   339

   340

            return;

   341

        }

   342

    }

   343

   344

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

   345

}

   346

   347

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

   348

   349

/** Get the number of SDO configurations.

   350

 *

   351

 * \return Number of SDO configurations.

   352

 */

   353

unsigned int ec_slave_config_sdo_count(

   354

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

   355

        )

   356

{

   357

    const ec_sdo_request_t *req;

   358

    unsigned int count = 0;

   359

   360

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

   361

        count++;

   362

    }

   363

   364

    return count;

   365

}

   366

   367

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

   368

   369

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

   370

 *

   371

 * Const version.

   372

 */

   373

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   374

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

   375

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

   376

        )

   377

{

   378

    const ec_sdo_request_t *req;

   379

   380

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

   381

        if (pos--)

   382

            continue;

   383

        return req;

   384

    }

   385

   386

    return NULL;

   387

}

   388

   389

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

   390

   391

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

   392

 */

   393

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   394

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

   395

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

   396

        )

   397

{

   398

    ec_sdo_request_t *req;

   399

   400

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

   401

        if (pos--)

   402

            continue;

   403

        return req;

   404

    }

   405

   406

    return NULL;

   407

}

   408

   409

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

   410

   411

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

   412

 */

   413

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   414

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

   415

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

   416

        )

   417

{

   418

    ec_voe_handler_t *voe;

   419

   420

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

   421

        if (pos--)

   422

            continue;

   423

        return voe;

   424

    }

   425

   426

    return NULL;

   427

}

   428

   429

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

   430

 *  Application interface

   431

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

   432

   433

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   434

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   435

{

   436

    ec_sync_config_t *sync_config;

   437

   438

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

   439

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

   440

            sc, sync_index, dir, watchdog_mode);

   441

   442

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   443

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

   444

        return -ENOENT;

   445

    }

   446

   447

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

   448

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

   449

        return -EINVAL;

   450

    }

   451

   452

    sync_config = &sc->sync_configs[sync_index];

   453

    sync_config->dir = dir;

   454

    sync_config->watchdog_mode = watchdog_mode;

   455

    return 0;

   456

}

   457

   458

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

   459

   460

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

   461

        uint16_t divider, uint16_t intervals)

   462

{

   463

    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, divider = %u, intervals = %u)\n",

   464

            __func__, sc, divider, intervals);

   465

   466

    sc->watchdog_divider = divider;

   467

    sc->watchdog_intervals = intervals;

   468

}

   469

   470

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

   471

   472

void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,

   473

        uint8_t allow_overlapping_pdos )

   474

{

   475

    if (sc->master->debug_level)

   476

        EC_DBG("%s(sc = 0x%p, allow_overlapping_pdos = %u)\n",

   477

                __func__, sc, allow_overlapping_pdos);

   478

   479

    sc->allow_overlapping_pdos = allow_overlapping_pdos;

   480

}

   481

   482

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

   483

   484

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   485

        uint8_t sync_index, uint16_t pdo_index)

   486

{

   487

    ec_pdo_t *pdo;

   488

   489

    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, "

   490

            "pdo_index = 0x%04X)\n", __func__, sc, sync_index, pdo_index);

   491

   492

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   493

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

   494