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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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

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 *  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

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 *  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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 *

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

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

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/**

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   \file

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   EtherCAT slave methods.

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*/

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    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/delay.h>

    43

    44

#include "globals.h"

    45

#include "slave.h"

    46

#include "datagram.h"

    47

#include "master.h"

    48

    49

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

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

void ec_slave_clear(struct kobject *);

    56

void ec_slave_sdos_clear(struct kobject *);

    57

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

    58

ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

    59

                                 const char *, size_t);

    61

    62

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

    63

    64

/** \cond */

    65

    66

EC_SYSFS_READ_ATTR(info);

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EC_SYSFS_READ_WRITE_ATTR(state);

    68

EC_SYSFS_READ_WRITE_ATTR(eeprom);

    69

EC_SYSFS_READ_WRITE_ATTR(alias);

    70

    71

static struct attribute *def_attrs[] = {

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    &attr_info,

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    &attr_state,

    74

    &attr_eeprom,

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    &attr_alias,

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    NULL,

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};

    78

    79

static struct sysfs_ops sysfs_ops = {

    80

    .show = ec_show_slave_attribute,

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    .store = ec_store_slave_attribute

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};

    83

    84

static struct kobj_type ktype_ec_slave = {

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    .release = ec_slave_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

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};

    89

    90

static struct kobj_type ktype_ec_slave_sdos = {

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    .release = ec_slave_sdos_clear

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   Slave constructor.

   100

   \return 0 in case of success, else < 0

   101

*/

   102

   103

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

   104

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

   105

                  uint16_t ring_position, /**< ring position */

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

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                  )

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{

   109

    unsigned int i;

   110

   111

    slave->ring_position = ring_position;

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    slave->station_address = station_address;

   113

   114

    slave->master = master;

   115

   116

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

   117

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   118

    slave->self_configured = 0;

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    slave->error_flag = 0;

   120

    slave->online_state = EC_SLAVE_ONLINE;

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    slave->fmmu_count = 0;

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    slave->pdos_registered = 0;

   123

   124

    slave->coupler_index = 0;

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    slave->coupler_subindex = 0xFFFF;

   126

   127

    slave->base_type = 0;

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    slave->base_revision = 0;

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    slave->base_build = 0;

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    slave->base_fmmu_count = 0;

   131

   132

    slave->eeprom_data = NULL;

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    slave->eeprom_size = 0;

   134

   135

    slave->sii_alias = 0;

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    slave->sii_vendor_id = 0;

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    slave->sii_product_code = 0;

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    slave->sii_revision_number = 0;

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    slave->sii_serial_number = 0;

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    slave->sii_rx_mailbox_offset = 0;

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    slave->sii_rx_mailbox_size = 0;

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    slave->sii_tx_mailbox_offset = 0;

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    slave->sii_tx_mailbox_size = 0;

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    slave->sii_mailbox_protocols = 0;

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    slave->sii_group = NULL;

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    slave->sii_image = NULL;

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    slave->sii_order = NULL;

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    slave->sii_name = NULL;

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    slave->sii_current_on_ebus = 0;

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   153

    slave->sii_syncs = NULL;

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    slave->sii_sync_count = 0;

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    INIT_LIST_HEAD(&slave->sii_pdos);

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    INIT_LIST_HEAD(&slave->sdo_dictionary);

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    INIT_LIST_HEAD(&slave->sdo_confs);

   158

   159

    slave->sdo_dictionary_fetched = 0;

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    slave->jiffies_preop = 0;

   161

   162

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

   163

        slave->dl_link[i] = 0;

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        slave->dl_loop[i] = 0;

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        slave->dl_signal[i] = 0;

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        slave->sii_physical_layer[i] = 0xFF;

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    }

   168

   169

    // init kobject and add it to the hierarchy

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

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    kobject_init(&slave->kobj);

   172

    slave->kobj.ktype = &ktype_ec_slave;

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

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

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

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        goto out_slave_put;

   177

    }

   178

    if (kobject_add(&slave->kobj)) {

   179

        EC_ERR("Failed to add slave's kobject.\n");

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        goto out_slave_put;

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    }

   182

   183

    // init SDO kobject and add it to the hierarchy

   184

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

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    kobject_init(&slave->sdo_kobj);

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    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

   187

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

   188

    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {

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

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        goto out_sdo_put;

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    }

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    if (kobject_add(&slave->sdo_kobj)) {

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        EC_ERR("Failed to add SDOs kobject.\n");

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        goto out_sdo_put;

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    }

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    return 0;

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   199

 out_sdo_put:

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    kobject_put(&slave->sdo_kobj);

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    kobject_del(&slave->kobj);

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 out_slave_put:

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    kobject_put(&slave->kobj);

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    return -1;

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}

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   207

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

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   209

/**

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   Slave destructor.

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   Clears and frees a slave object.

   212

*/

   213

   214

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

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{

   216

    ec_sdo_t *sdo, *next_sdo;

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   218

    // free all SDOs

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

   220

        list_del(&sdo->list);

   221

        ec_sdo_destroy(sdo);

   222

    }

   223

   224

    // free SDO kobject

   225

    kobject_del(&slave->sdo_kobj);

   226

    kobject_put(&slave->sdo_kobj);

   227

   228

    // destroy self

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    kobject_del(&slave->kobj);

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    kobject_put(&slave->kobj);

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}

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   233

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

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   235

/**

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   Clear and free slave.

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   This method is called by the kobject,

   238

   once there are no more references to it.

   239

*/

   240

   241

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

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{

   243

    ec_slave_t *slave;

   244

    ec_sii_pdo_t *pdo, *next_pdo;

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    ec_sii_pdo_entry_t *entry, *next_ent;

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    ec_sdo_data_t *sdodata, *next_sdodata;

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   249

    slave = container_of(kobj, ec_slave_t, kobj);

   250

   256

    }

   257

   258

    // free all sync managers

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

   260

   261

    // free all PDOs

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

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        list_del(&pdo->list);

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        // free all PDO entries

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

   267

            list_del(&entry->list);

   268

            kfree(entry);

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        }

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   271

        kfree(pdo);

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    }

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   274

    // free all SDO configurations

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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

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        list_del(&sdodata->list);

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        kfree(sdodata->data);

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        kfree(sdodata);

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    }

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   281

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

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   283

    kfree(slave);

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}

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   286

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

   287

   288

/**

   289

*/

   290

   291

void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)

   292

{

   293

}

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   295

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

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   297

/**

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   Reset slave from operation mode.

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*/

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   301

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

   302

{

   303

    ec_sdo_data_t *sdodata, *next_sdodata;

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    unsigned int i;

   305

   306

    // remove FMMU configurations

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    slave->fmmu_count = 0;

   308

    slave->pdos_registered = 0;

   309

   310

    // free all SDO configurations

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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

   312

        list_del(&sdodata->list);

   313

        kfree(sdodata->data);

   314

        kfree(sdodata);

   315

    }

   316

   317

    // remove estimated sync manager sizes

   318

    for (i = 0; i < slave->sii_sync_count; i++) {

   319

        slave->sii_syncs[i].est_length = 0;

   320

    }

   321

}

   322

   323

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

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   325

/**

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 * Sets the application state of a slave.

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 */

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   329

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

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        ec_slave_state_t new_state /**< new application state */

   331

        )

   332

{

   333

    if (new_state != slave->current_state) {

   334

        if (slave->master->debug_level) {

   335

            char old_state[EC_STATE_STRING_SIZE],

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                cur_state[EC_STATE_STRING_SIZE];

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            ec_state_string(slave->current_state, old_state);

   338

            ec_state_string(new_state, cur_state);

   339

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

   340

                   slave->ring_position, old_state, cur_state);

   341

        }

   342

        slave->current_state = new_state;

   343

    }

   344

}

   345

   346

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

   347

   348

/**

   349

 * Sets the online state of a slave.

   350

 */

   351

   352

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

   353

        ec_slave_online_state_t new_state /**< new online state */

   354

        )

   355

{

   356

    if (new_state == EC_SLAVE_OFFLINE &&

   357

            slave->online_state == EC_SLAVE_ONLINE) {

   358

        if (slave->pdos_registered)

   359

            slave->master->pdo_slaves_offline++;

   360

        if (slave->master->debug_level)

   361

            EC_DBG("Slave %i: offline.\n", slave->ring_position);

   362

    }

   363

    else if (new_state == EC_SLAVE_ONLINE &&

   364

            slave->online_state == EC_SLAVE_OFFLINE) {

   365

        slave->error_flag = 0; // clear error flag

   366

        if (slave->pdos_registered)

   367

            slave->master->pdo_slaves_offline--;

   368

        if (slave->master->debug_level) {

   369

            char cur_state[EC_STATE_STRING_SIZE];

   370

            ec_state_string(slave->current_state, cur_state);

   371

            EC_DBG("Slave %i: online (%s).\n",

   372

                   slave->ring_position, cur_state);

   373

        }

   374

    }

   375

   376

    slave->online_state = new_state;

   377

}

   378

   379

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

   380

   381

/**

   382

 */

   383

   384

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

   385

                            ec_slave_state_t state /**< new state */

   386

                            )

   387

{

   388

    slave->requested_state = state;

   389

    slave->error_flag = 0;

   390

}

   391

   392

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

   393

   394

/**

   395

   Fetches data from a STRING category.

   396

   \return 0 in case of success, else < 0

   397

*/

   398

   399

int ec_slave_fetch_sii_strings(

   400

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

   401

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

   402

        )

   403

{

   405

    size_t size;

   406

    off_t offset;

   420

    offset = 1;

   422

        size = data[offset];

   423

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

   426

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

   431

        offset += 1 + size;

   432

    }

   433

   434

    return 0;

   443

}

   444

   445

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

   446

   447

/**

   448

   Fetches data from a GENERAL category.

   449

   \return 0 in case of success, else < 0

   450

*/

   451

   452

void ec_slave_fetch_sii_general(

   453

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

   454

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

   455

        )

   456

{

   457

    unsigned int i;

   458

   463

   464

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

   465

        slave->sii_physical_layer[i] =

   466

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

   467

   468

    slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);

   469

}

   470

   471

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

   472

   473

/**

   474

   Fetches data from a SYNC MANAGER category.

   475

   \return 0 in case of success, else < 0

   476

*/

   477

   478

int ec_slave_fetch_sii_syncs(

   479

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

   480

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

   481

        size_t word_count /**< number of words */

   482

        )

   483

{

   484

    unsigned int i;

   485

    ec_sii_sync_t *sync;

   486

   487

    // sync manager struct is 4 words long