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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

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

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 *

    14

 *  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.

    18

 *

    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

    21

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

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 *

    32

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

    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

    55

int ec_slave_fetch_categories(ec_slave_t *);

    56

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

    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);

    67

EC_SYSFS_READ_ATTR(product_name);

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EC_SYSFS_READ_ATTR(product_desc);

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EC_SYSFS_READ_ATTR(type);

    72

    73

static struct attribute *def_attrs[] = {

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    &attr_ring_position,

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    &attr_coupler_address,

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    &attr_vendor_name,

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    &attr_product_name,

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    &attr_product_desc,

    80

    &attr_type,

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    NULL,

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};

    84

    85

static struct sysfs_ops sysfs_ops = {

    88

};

    89

    90

static struct kobj_type ktype_ec_slave = {

    91

    .release = ec_slave_clear,

    92

    .sysfs_ops = &sysfs_ops,

    93

    .default_attrs = def_attrs

    94

};

    95

    96

/** \endcond */

    97

    98

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

    99

   100

/**

   101

   Slave constructor.

   102

   \return 0 in case of success, else < 0

   103

*/

   104

   105

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

   106

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

   107

                  uint16_t ring_position, /**< ring position */

   108

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

   109

                  )

   110

{

   111

    unsigned int i;

   112

   113

    slave->ring_position = ring_position;

   114

    slave->station_address = station_address;

   115

   116

    // init kobject and add it to the hierarchy

   117

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

   118

    kobject_init(&slave->kobj);

   119

    slave->kobj.ktype = &ktype_ec_slave;

   120

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

   121

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

   122

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

   123

        kobject_put(&slave->kobj);

   124

        return -1;

   125

    }

   126

   127

    slave->master = master;

   128

    slave->coupler_index = 0;

   129

    slave->coupler_subindex = 0xFFFF;

   130

    slave->base_type = 0;

   131

    slave->base_revision = 0;

   132

    slave->base_build = 0;

   133

    slave->base_fmmu_count = 0;

   134

    slave->base_sync_count = 0;

   135

    slave->sii_alias = 0;

   136

    slave->sii_vendor_id = 0;

   137

    slave->sii_product_code = 0;

   138

    slave->sii_revision_number = 0;

   139

    slave->sii_serial_number = 0;

   140

    slave->sii_rx_mailbox_offset = 0;

   141

    slave->sii_rx_mailbox_size = 0;

   142

    slave->sii_tx_mailbox_offset = 0;

   143

    slave->sii_tx_mailbox_size = 0;

   144

    slave->sii_mailbox_protocols = 0;

   145

    slave->type = NULL;

   146

    slave->registered = 0;

   147

    slave->fmmu_count = 0;

   151

    slave->eeprom_name = NULL;

   156

   157

    ec_command_init(&slave->mbox_command);

   158

   159

    INIT_LIST_HEAD(&slave->eeprom_strings);

   160

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   161

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   162

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   163

   164

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

   165

        slave->dl_link[i] = 0;

   166

        slave->dl_loop[i] = 0;

   167

        slave->dl_signal[i] = 0;

   168

        slave->sii_physical_layer[i] = 0xFF;

   169

    }

   170

   171

    return 0;

   172

}

   173

   174

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

   175

   176

/**

   177

   Slave destructor.

   178

*/

   179

   180

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

   181

{

   182

    ec_slave_t *slave;

   183

    ec_eeprom_string_t *string, *next_str;

   184

    ec_eeprom_sync_t *sync, *next_sync;

   185

    ec_eeprom_pdo_t *pdo, *next_pdo;

   186

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   187

    ec_sdo_t *sdo, *next_sdo;

   188

    ec_sdo_entry_t *en, *next_en;

   189

   190

    slave = container_of(kobj, ec_slave_t, kobj);

   191

   192

    // free all string objects

   193

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

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        list_del(&string->list);

   195

        kfree(string);

   196

    }

   197

   198

    // free all sync managers

   199

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

   200

        list_del(&sync->list);

   201

        kfree(sync);

   202

    }

   203

   204

    // free all PDOs

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

   206

        list_del(&pdo->list);

   207

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

   208

   209

        // free all PDO entries

   210

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

   211

            list_del(&entry->list);

   212

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

   213

            kfree(entry);

   214

        }

   215

   216

        kfree(pdo);

   217

    }

   218

   222

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

   223

   224

    // free all SDOs

   225

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

   226

        list_del(&sdo->list);

   227

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

   228

   229

        // free all SDO entries

   230

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

   231

            list_del(&en->list);

   232

            kfree(en);

   233

        }

   234

        kfree(sdo);

   235

    }

   236

   237

    ec_command_clear(&slave->mbox_command);

   238

}

   239

   240

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

   241

   242

/**

   243

   Reads all necessary information from a slave.

   244

   \return 0 in case of success, else < 0

   245

*/

   246

   247

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

   248

{

   249

    ec_command_t *command;

   250

    unsigned int i;

   251

    uint16_t dl_status;

   252

   253

    command = &slave->master->simple_command;

   254

   255

    // read base data

   256

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

   257

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

   258

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

   259

               slave->ring_position);

   260

        return -1;

   261

    }

   262

   263

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

   264

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

   265

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

   266

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

   267

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

   268

   269

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   270

        slave->base_fmmu_count = EC_MAX_FMMUS;

   271

   272

    // read data link status

   273

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

   274

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

   275

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

   276

               slave->ring_position);

   277

        return -1;

   278

    }

   279

   280

    dl_status = EC_READ_U16(command->data);

   281

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

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

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

   284

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

   285

    }

   286

   287

    // read EEPROM data

   288

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

   289

        return -1;

   290

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

   291

        return -1;

   292

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

   293

        return -1;

   294

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

   295

        return -1;

   296

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

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        return -1;

   298

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

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        return -1;

   300

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

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        return -1;

   302

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

   303

        return -1;

   304

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

   305

        return -1;

   306

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

   307

        return -1;

   308

   309

    if (unlikely(ec_slave_fetch_categories(slave))) {

   310

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

   311

        return -1;

   312

    }

   313

   314

    return 0;

   315

}

   316

   317

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

   318

   319

/**

   320

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

   321

   \return 0 in case of success, else < 0

   322

*/

   323

   324

int ec_slave_sii_read16(ec_slave_t *slave,

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                        /**< EtherCAT slave */

   326

                        uint16_t offset,

   327

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

   328

                        uint16_t *target

   329

                        /**< target memory */

   330

                        )

   331

{

   332

    ec_command_t *command;

   333

    cycles_t start, end, timeout;

   334

   335

    command = &slave->master->simple_command;

   336

   337

    // initiate read operation

   338

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

   339

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

   340

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

   341

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

   342

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

   343

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

   344

        return -1;

   345

    }

   346

   347

    start = get_cycles();

   348

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

   349

   350

    while (1)

   351

    {

   352

        udelay(10);

   353

   354

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

   355

            return -1;

   356

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

   357

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

   358

                   slave->ring_position);

   359

            return -1;

   360

        }

   361

   362

        end = get_cycles();

   363

   364

        // check for "busy bit"

   365

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

   366

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

   367

            return 0;

   368

        }

   369

   370

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

   371

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

   372

            return -1;

   373

        }

   374

    }

   375

}

   376

   377

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

   378

   379

/**

   380

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

   381

   \return 0 in case of success, else < 0

   382

*/

   383

   384

int ec_slave_sii_read32(ec_slave_t *slave,

   385

                        /**< EtherCAT slave */

   386

                        uint16_t offset,

   387

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

   388

                        uint32_t *target

   389

                        /**< target memory */

   390

                        )

   391

{

   392

    ec_command_t *command;

   393

    cycles_t start, end, timeout;

   394

   395

    command = &slave->master->simple_command;

   396

   397

    // initiate read operation

   398

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

   399

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

   400

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

   401

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

   402

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

   403

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

   404

        return -1;

   405

    }

   406

   407

    start = get_cycles();

   408

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

   409

   410

    while (1)

   411

    {

   412

        udelay(10);

   413

   414

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

   415

            return -1;

   416

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

   417

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

   418

                   slave->ring_position);

   419

            return -1;

   420

        }

   421

   422

        end = get_cycles();

   423

   424

        // check "busy bit"

   425

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

   426

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

   427

            return 0;

   428

        }

   429

   430

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

   431

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

   432

            return -1;

   433

        }

   434

    }

   435

}

   436

   437

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

   438

   439

/**

   440

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

   441

   \return 0 in case of success, else < 0

   442

*/

   443

   444

int ec_slave_sii_write16(ec_slave_t *slave,

   445

                         /**< EtherCAT slave */

   446

                         uint16_t offset,

   447

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

   448

                         uint16_t value

   449

                         /**< new value */

   450

                         )

   451

{

   452

    ec_command_t *command;

   453

    cycles_t start, end, timeout;

   454

   455

    command = &slave->master->simple_command;

   456

   457

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

   458

            slave->ring_position, offset, value);

   459

   460

    // initiate write operation

   461

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

   462

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

   463

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

   464

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

   465

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

   466

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

   467

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

   468

        return -1;

   469

    }

   470

   471

    start = get_cycles();

   472

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

   473

   474

    while (1)

   475

    {

   476

        udelay(10);

   477

   478

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

   479

            return -1;

   480

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

   481

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

   482

                   slave->ring_position);

   483

            return -1;

   484

        }