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

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 *  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

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/delay.h>

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

    45

#include "slave.h"

    46

    47

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

    48

    49

extern const ec_code_msg_t al_status_messages[];

    50

    51

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

    52

    53

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    54

    55

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

    56

    57

/**

    58

   Slave constructor.

    59

   \return 0 in case of success, else < 0

    60

*/

    61

    62

void ec_slave_init(

    63

        ec_slave_t *slave, /**< EtherCAT slave */

    64

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

    65

        uint16_t ring_position, /**< ring position */

    66

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

    67

        )

    68

{

    69

    unsigned int i;

    70

    71

    slave->master = master;

    72

    slave->ring_position = ring_position;

    73

    slave->station_address = station_address;

    74

    75

    slave->config = NULL;

    76

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    77

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    78

    slave->error_flag = 0;

    79

    slave->force_config = 0;

    80

    slave->configured_rx_mailbox_offset = 0x0000;

    81

    slave->configured_rx_mailbox_size = 0x0000;

    82

    slave->configured_tx_mailbox_offset = 0x0000;

    83

    slave->configured_tx_mailbox_size = 0x0000;

    84

    85

    slave->base_type = 0;

    86

    slave->base_revision = 0;

    87

    slave->base_build = 0;

    88

    slave->base_fmmu_count = 0;

    89

    slave->base_sync_count = 0;

    90

    91

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

    92

        slave->base_ports[i] = EC_PORT_NOT_IMPLEMENTED;

    93

    94

        slave->ports[i].dl_link = 0;

    95

        slave->ports[i].dl_loop = 0;

    96

        slave->ports[i].dl_signal = 0;

    97

        slave->sii.physical_layer[i] = 0xFF;

    98

    99

        slave->dc_receive_times[i] = 0U;

   102

    }

   103

   104

    slave->base_fmmu_bit_operation = 0;

   105

    slave->base_dc_supported = 0;

   106

    slave->base_dc_range = EC_DC_32;

   107

    slave->has_dc_system_time = 0;

   108

   109

    slave->sii_words = NULL;

   110

    slave->sii_nwords = 0;

   111

   112

    slave->sii.alias = 0x0000;

   113

    slave->sii.vendor_id = 0x00000000;

   114

    slave->sii.product_code = 0x00000000;

   115

    slave->sii.revision_number = 0x00000000;

   116

    slave->sii.serial_number = 0x00000000;

   117

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   118

    slave->sii.boot_rx_mailbox_size = 0x0000;

   119

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   120

    slave->sii.boot_tx_mailbox_size = 0x0000;

   121

    slave->sii.std_rx_mailbox_offset = 0x0000;

   122

    slave->sii.std_rx_mailbox_size = 0x0000;

   123

    slave->sii.std_tx_mailbox_offset = 0x0000;

   124

    slave->sii.std_tx_mailbox_size = 0x0000;

   125

    slave->sii.mailbox_protocols = 0;

   126

   127

    slave->sii.strings = NULL;

   128

    slave->sii.string_count = 0;

   129

   130

    slave->sii.has_general = 0;

   131

    slave->sii.group = NULL;

   132

    slave->sii.image = NULL;

   133

    slave->sii.order = NULL;

   134

    slave->sii.name = NULL;

   135

    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));

   136

    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));

   137

    slave->sii.current_on_ebus = 0;

   138

   139

    slave->sii.syncs = NULL;

   140

    slave->sii.sync_count = 0;

   141

   142

    INIT_LIST_HEAD(&slave->sii.pdos);

   143

   144

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   145

   146

    slave->sdo_dictionary_fetched = 0;

   147

    slave->jiffies_preop = 0;

   148

}

   149

   150

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

   151

   152

/**

   153

   Slave destructor.

   154

   Clears and frees a slave object.

   155

*/

   156

   157

void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)

   158

{

   159

    ec_sdo_t *sdo, *next_sdo;

   160

    unsigned int i;

   161

    ec_pdo_t *pdo, *next_pdo;

   162

   163

    if (slave->config)

   164

        ec_slave_config_detach(slave->config);

   165

   166

    // free all SDOs

   167

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

   168

        list_del(&sdo->list);

   169

        ec_sdo_clear(sdo);

   170

        kfree(sdo);

   171

    }

   172

   173

    // free all strings

   174

    if (slave->sii.strings) {

   175

        for (i = 0; i < slave->sii.string_count; i++)

   176

            kfree(slave->sii.strings[i]);

   177

        kfree(slave->sii.strings);

   178

    }

   179

   180

    // free all sync managers

   181

    ec_slave_clear_sync_managers(slave);

   182

   183

    // free all SII PDOs

   184

    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {

   185

        list_del(&pdo->list);

   186

        ec_pdo_clear(pdo);

   187

        kfree(pdo);

   188

    }

   189

   190

    if (slave->sii_words)

   191

        kfree(slave->sii_words);

   192

}

   193

   194

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

   195

   196

/** Clear the sync manager array. 

   197

 */

   198

void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)

   199

{

   200

    unsigned int i;

   201

   202

    if (slave->sii.syncs) {

   203

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

   204

            ec_sync_clear(&slave->sii.syncs[i]);

   205

        }

   206

        kfree(slave->sii.syncs);

   207

        slave->sii.syncs = NULL;

   208

    }

   209

}

   210

   211

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

   212

   213

/**

   214

 * Sets the application state of a slave.

   215

 */

   216

   217

void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */

   218

        ec_slave_state_t new_state /**< new application state */

   219

        )

   220

{

   221

    if (new_state != slave->current_state) {

   222

        if (slave->master->debug_level) {

   223

            char old_state[EC_STATE_STRING_SIZE],

   224

                cur_state[EC_STATE_STRING_SIZE];

   225

            ec_state_string(slave->current_state, old_state, 0);

   226

            ec_state_string(new_state, cur_state, 0);

   227

            EC_DBG("Slave %u: %s -> %s.\n",

   228

                   slave->ring_position, old_state, cur_state);

   229

        }

   230

        slave->current_state = new_state;

   231

    }

   232

}

   233

   234

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

   235

   236

/**

   237

 * Request a slave state and resets the error flag.

   238

 */

   239

   240

void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */

   241

                            ec_slave_state_t state /**< new state */

   242

                            )

   243

{

   244

    slave->requested_state = state;

   245

    slave->error_flag = 0;

   246

}

   247

   248

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

   249

   250

/**

   251

   Fetches data from a STRING category.

   252

   \todo range checking

   253

   \return 0 in case of success, else < 0

   254

*/

   255

   256

int ec_slave_fetch_sii_strings(

   257

        ec_slave_t *slave, /**< EtherCAT slave */

   258

        const uint8_t *data, /**< category data */

   259

        size_t data_size /**< number of bytes */

   260

        )

   261

{

   262

    int i, err;

   263

    size_t size;

   264

    off_t offset;

   265

   266

    slave->sii.string_count = data[0];

   267

   268

    if (slave->sii.string_count) {

   269

        if (!(slave->sii.strings =

   270

                    kmalloc(sizeof(char *) * slave->sii.string_count,

   271

                        GFP_KERNEL))) {

   272

            EC_ERR("Failed to allocate string array memory.\n");

   273

            err = -ENOMEM;

   274

            goto out_zero;

   275

        }

   276

   277

        offset = 1;

   278

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

   279

            size = data[offset];

   280

            // allocate memory for string structure and data at a single blow

   281

            if (!(slave->sii.strings[i] =

   282

                        kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {

   283

                EC_ERR("Failed to allocate string memory.\n");

   284

                err = -ENOMEM;

   285

                goto out_free;

   286

            }

   287

            memcpy(slave->sii.strings[i], data + offset + 1, size);

   288

            slave->sii.strings[i][size] = 0x00; // append binary zero

   289

            offset += 1 + size;

   290

        }

   291

    }

   292

   293

    return 0;

   294

   295

out_free:

   296

    for (i--; i >= 0; i--)

   297

        kfree(slave->sii.strings[i]);

   298

    kfree(slave->sii.strings);

   299

    slave->sii.strings = NULL;

   300

out_zero:

   301

    slave->sii.string_count = 0;

   302

    return err;

   303

}

   304

   305

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

   306

   307

/**

   308

   Fetches data from a GENERAL category.

   309

   \return 0 in case of success, else < 0

   310

*/

   311

   312

int ec_slave_fetch_sii_general(

   313

        ec_slave_t *slave, /**< EtherCAT slave */

   314

        const uint8_t *data, /**< category data */

   315

        size_t data_size /**< size in bytes */

   316

        )

   317

{

   318

    unsigned int i;

   319

    uint8_t flags;

   320

   321

    if (data_size != 32) {

   322

        EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",

   323

                data_size, slave->ring_position);

   324

        return -EINVAL;

   325

    }

   326

   327

    slave->sii.group = ec_slave_sii_string(slave, data[0]);

   328

    slave->sii.image = ec_slave_sii_string(slave, data[1]);

   329

    slave->sii.order = ec_slave_sii_string(slave, data[2]);

   330

    slave->sii.name = ec_slave_sii_string(slave, data[3]);

   331

   332

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

   333

        slave->sii.physical_layer[i] =

   334

            (data[4] & (0x03 << (i * 2))) >> (i * 2);

   335

   336

    // read CoE details

   337

    flags = EC_READ_U8(data + 5);

   338

    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;

   339

    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;

   340

    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;

   341

    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;

   342

    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;

   343

    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;

   344

   345

    // read general flags

   346

    flags = EC_READ_U8(data + 0x000B);

   347

    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;

   348

    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;

   349

   350

    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);

   351

    slave->sii.has_general = 1;

   352

    return 0;

   353

}

   354

   355

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

   356

   357

/** Fetches data from a SYNC MANAGER category.

   358

 *

   359

 * Appends the sync managers described in the category to the existing ones.

   360

 *

   361

 * \return 0 in case of success, else < 0

   362

 */

   363

int ec_slave_fetch_sii_syncs(

   364

        ec_slave_t *slave, /**< EtherCAT slave. */

   365

        const uint8_t *data, /**< Category data. */

   366

        size_t data_size /**< Number of bytes. */

   367

        )

   368

{

   369

    unsigned int i, count, total_count;

   370

    ec_sync_t *sync;

   371

    size_t memsize;

   372

    ec_sync_t *syncs;

   373

    uint8_t index;

   374

   375

    // one sync manager struct is 4 words long

   376

    if (data_size % 8) {

   377

        EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",

   378

                data_size, slave->ring_position);

   379

        return -EINVAL;

   380

    }

   381

   382

    count = data_size / 8;

   383

   384

    if (count) {

   385

        total_count = count + slave->sii.sync_count;

   386

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   387

            EC_ERR("Exceeded maximum number of sync managers!\n");

   388

            return -EOVERFLOW;

   389

        }

   390

        memsize = sizeof(ec_sync_t) * total_count;

   391

        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {

   392

            EC_ERR("Failed to allocate %u bytes for sync managers.\n",

   393

                    memsize);

   394

            return -ENOMEM;

   395

        }

   396

   397

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

   398

            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);

   399

   400

        // initialize new sync managers

   401

        for (i = 0; i < count; i++, data += 8) {

   402

            index = i + slave->sii.sync_count;

   403

            sync = &syncs[index];

   404

   405

            ec_sync_init(sync, slave);

   406

            sync->physical_start_address = EC_READ_U16(data);

   407

            sync->default_length = EC_READ_U16(data + 2);

   408

            sync->control_register = EC_READ_U8(data + 4);

   409

            sync->enable = EC_READ_U8(data + 6);

   410

        }

   411

   412

        if (slave->sii.syncs)

   413

            kfree(slave->sii.syncs);

   414

        slave->sii.syncs = syncs;

   415

        slave->sii.sync_count = total_count;

   416

    }

   417

   418

    return 0;

   419

}

   420

   421

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

   422

   423

/**

   424

   Fetches data from a [RT]xPDO category.

   425

   \return 0 in case of success, else < 0

   426

*/

   427

   428

int ec_slave_fetch_sii_pdos(

   429

        ec_slave_t *slave, /**< EtherCAT slave */

   430

        const uint8_t *data, /**< category data */

   431

        size_t data_size, /**< number of bytes */

   432

        ec_direction_t dir /**< PDO direction. */

   433

        )

   434

{

   435

    int ret;

   436

    ec_pdo_t *pdo;

   437

    ec_pdo_entry_t *entry;

   438

    unsigned int entry_count, i;

   439

   440

    while (data_size >= 8) {

   441

        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {

   442

            EC_ERR("Failed to allocate PDO memory.\n");

   443

            return -ENOMEM;

   444

        }

   445

   446

        ec_pdo_init(pdo);

   447

        pdo->index = EC_READ_U16(data);

   448

        entry_count = EC_READ_U8(data + 2);

   449

        pdo->sync_index = EC_READ_U8(data + 3);

   450

        ret = ec_pdo_set_name(pdo,

   451

                ec_slave_sii_string(slave, EC_READ_U8(data + 5)));

   452

        if (ret) {

   453

            ec_pdo_clear(pdo);

   454

            kfree(pdo);

   455

            return ret;

   456

        }

   457

        list_add_tail(&pdo->list, &slave->sii.pdos);

   458

   459

        data_size -= 8;

   460

        data += 8;

   461

   462

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

   463

            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {

   464

                EC_ERR("Failed to allocate PDO entry memory.\n");

   465

                return -ENOMEM;

   466

            }

   467

   468

            ec_pdo_entry_init(entry);

   469

            entry->index = EC_READ_U16(data);

   470

            entry->subindex = EC_READ_U8(data + 2);

   471

            ret = ec_pdo_entry_set_name(entry,

   472

                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)));

   473

            if (ret) {

   474

                ec_pdo_entry_clear(entry);

   475

                kfree(entry);

   476

                return ret;

   477

            }

   478

            entry->bit_length = EC_READ_U8(data + 5);

   479

            list_add_tail(&entry->list, &pdo->entries);

   480

   481

            data_size -= 8;

   482

            data += 8;

   483

        }

   484