1

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

     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

    11

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

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    16

 *  GNU General Public License for more details.

    17

 *

    18

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

    19

 *  along 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

/**

    25

   \file

    26

   EtherCAT slave methods.

    27

*/

    28

    29

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

    30

    31

#include <linux/module.h>

    32

#include <linux/delay.h>

    33

    34

#include "globals.h"

    35

#include "slave.h"

    36

#include "command.h"

    37

#include "master.h"

    38

    39

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

    40

    41

int ec_slave_fetch_categories(ec_slave_t *);

    42

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

    43

    44

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

    45

    46

/** \cond */

    47

    48

EC_SYSFS_READ_ATTR(ring_position);

    49

EC_SYSFS_READ_ATTR(coupler_address);

    50

EC_SYSFS_READ_ATTR(vendor_name);

    51

EC_SYSFS_READ_ATTR(product_name);

    52

EC_SYSFS_READ_ATTR(product_desc);

    53

EC_SYSFS_READ_ATTR(sii_desc);

    54

EC_SYSFS_READ_ATTR(type);

    55

    56

static struct attribute *def_attrs[] = {

    57

    &attr_ring_position,

    58

    &attr_coupler_address,

    59

    &attr_vendor_name,

    60

    &attr_product_name,

    61

    &attr_product_desc,

    62

    &attr_sii_desc,

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    &attr_type,

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    NULL,

    65

};

    66

    67

static struct sysfs_ops sysfs_ops = {

    68

    .show = &ec_show_slave_attribute,

    69

    .store = NULL

    70

};

    71

    72

static struct kobj_type ktype_ec_slave = {

    73

    .release = ec_slave_clear,

    74

    .sysfs_ops = &sysfs_ops,

    75

    .default_attrs = def_attrs

    76

};

    77

    78

/** \endcond */

    79

    80

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

    81

    82

const ec_code_msg_t al_status_messages[];

    83

    84

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

    85

    86

/**

    87

   Slave constructor.

    88

   \return 0 in case of success, else < 0

    89

*/

    90

    91

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

    92

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

    93

                  uint16_t ring_position, /**< ring position */

    94

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

    95

                  )

    96

{

    97

    unsigned int i;

    98

    99

    slave->ring_position = ring_position;

   100

    slave->station_address = station_address;

   101

   102

    // init kobject and add it to the hierarchy

   103

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

   104

    kobject_init(&slave->kobj);

   105

    slave->kobj.ktype = &ktype_ec_slave;

   106

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

   107

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

   108

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

   109

        kobject_put(&slave->kobj);

   110

        return -1;

   111

    }

   112

   113

    slave->master = master;

   114

    slave->coupler_index = 0;

   115

    slave->coupler_subindex = 0xFFFF;

   116

    slave->base_type = 0;

   117

    slave->base_revision = 0;

   118

    slave->base_build = 0;

   119

    slave->base_fmmu_count = 0;

   120

    slave->base_sync_count = 0;

   121

    slave->sii_alias = 0;

   122

    slave->sii_vendor_id = 0;

   123

    slave->sii_product_code = 0;

   124

    slave->sii_revision_number = 0;

   125

    slave->sii_serial_number = 0;

   126

    slave->sii_rx_mailbox_offset = 0;

   127

    slave->sii_rx_mailbox_size = 0;

   128

    slave->sii_tx_mailbox_offset = 0;

   129

    slave->sii_tx_mailbox_size = 0;

   130

    slave->sii_mailbox_protocols = 0;

   131

    slave->type = NULL;

   132

    slave->registered = 0;

   133

    slave->fmmu_count = 0;

   134

    slave->eeprom_name = NULL;

   135

    slave->eeprom_group = NULL;

   136

    slave->eeprom_desc = NULL;

   137

   138

    ec_command_init(&slave->mbox_command);

   139

   140

    INIT_LIST_HEAD(&slave->eeprom_strings);

   141

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   142

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   143

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   144

   145

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

   146

        slave->dl_link[i] = 0;

   147

        slave->dl_loop[i] = 0;

   148

        slave->dl_signal[i] = 0;

   149

        slave->sii_physical_layer[i] = 0xFF;

   150

    }

   151

   152

    return 0;

   153

}

   154

   155

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

   156

   157

/**

   158

   Slave destructor.

   159

*/

   160

   161

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

   162

{

   163

    ec_slave_t *slave;

   164

    ec_eeprom_string_t *string, *next_str;

   165

    ec_eeprom_sync_t *sync, *next_sync;

   166

    ec_eeprom_pdo_t *pdo, *next_pdo;

   167

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   168

    ec_sdo_t *sdo, *next_sdo;

   169

    ec_sdo_entry_t *en, *next_en;

   170

   171

    slave = container_of(kobj, ec_slave_t, kobj);

   172

   173

    // free all string objects

   174

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

   175

        list_del(&string->list);

   176

        kfree(string);

   177

    }

   178

   179

    // free all sync managers

   180

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

   181

        list_del(&sync->list);

   182

        kfree(sync);

   183

    }

   184

   185

    // free all PDOs

   186

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

   187

        list_del(&pdo->list);

   188

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

   189

   190

        // free all PDO entries

   191

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

   192

            list_del(&entry->list);

   193

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

   194

            kfree(entry);

   195

        }

   196

   197

        kfree(pdo);

   198

    }

   199

   200

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

   201

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

   202

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

   203

   204

    // free all SDOs

   205

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

   206

        list_del(&sdo->list);

   207

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

   208

   209

        // free all SDO entries

   210

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

   211

            list_del(&en->list);

   212

            kfree(en);

   213

        }

   214

        kfree(sdo);

   215

    }

   216

   217

    ec_command_clear(&slave->mbox_command);

   218

}

   219

   220

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

   221

   222

/**

   223

   Reads all necessary information from a slave.

   224

   \return 0 in case of success, else < 0

   225

*/

   226

   227

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

   228

{

   229

    ec_command_t *command;

   230

    unsigned int i;

   231

    uint16_t dl_status;

   232

   233

    command = &slave->master->simple_command;

   234

   235

    // read base data

   236

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

   237

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

   238

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

   239

               slave->ring_position);

   240

        return -1;

   241

    }

   242

   243

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

   244

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

   245

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

   246

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

   247

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

   248

   249

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   250

        slave->base_fmmu_count = EC_MAX_FMMUS;

   251

   252

    // read data link status

   253

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

   254

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

   255

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

   256

               slave->ring_position);

   257

        return -1;

   258

    }

   259

   260

    dl_status = EC_READ_U16(command->data);

   261

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

   262

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

   263

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

   264

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

   265

    }

   266

   267

    // read EEPROM data

   268

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

   269

        return -1;

   270

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

   271

        return -1;

   272

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

   273

        return -1;

   274

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

   275

        return -1;

   276

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

   277

        return -1;

   278

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

   279

        return -1;

   280

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

   281

        return -1;

   282

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

   283

        return -1;

   284

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

   285

        return -1;

   286

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

   287

        return -1;

   288

   289

    if (unlikely(ec_slave_fetch_categories(slave))) {

   290

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

   291

        return -1;

   292

    }

   293

   294

    return 0;

   295

}

   296

   297

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

   298

   299

/**

   300

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

   301

   \return 0 in case of success, else < 0

   302

*/

   303

   304

int ec_slave_sii_read16(ec_slave_t *slave,

   305

                        /**< EtherCAT slave */

   306

                        uint16_t offset,

   307

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

   308

                        uint16_t *target

   309

                        /**< target memory */

   310

                        )

   311

{

   312

    ec_command_t *command;

   313

    cycles_t start, end, timeout;

   314

   315

    command = &slave->master->simple_command;

   316

   317

    // initiate read operation

   318

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

   319

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

   320

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

   321

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

   322

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

   323

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

   324

        return -1;

   325

    }

   326

   327

    start = get_cycles();

   328

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

   329

   330

    while (1)

   331

    {

   332

        udelay(10);

   333

   334

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

   335

            return -1;

   336

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

   337

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

   338

                   slave->ring_position);

   339

            return -1;

   340

        }

   341

   342

        end = get_cycles();

   343

   344

        // check for "busy bit"

   345

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

   346

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

   347

            return 0;

   348

        }

   349

   350

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

   351

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

   352

            return -1;

   353

        }

   354

    }

   355

}

   356

   357

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

   358

   359

/**

   360

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

   361

   \return 0 in case of success, else < 0

   362

*/

   363

   364

int ec_slave_sii_read32(ec_slave_t *slave,

   365

                        /**< EtherCAT slave */

   366

                        uint16_t offset,

   367

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

   368

                        uint32_t *target

   369

                        /**< target memory */

   370

                        )

   371

{

   372

    ec_command_t *command;

   373

    cycles_t start, end, timeout;

   374

   375

    command = &slave->master->simple_command;

   376

   377

    // initiate read operation

   378

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

   379

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

   380

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

   381

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

   382

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

   383

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

   384

        return -1;

   385

    }

   386

   387

    start = get_cycles();

   388

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

   389

   390

    while (1)

   391

    {

   392

        udelay(10);

   393

   394

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

   395

            return -1;

   396

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

   397

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

   398

                   slave->ring_position);

   399

            return -1;

   400

        }

   401

   402

        end = get_cycles();

   403

   404

        // check "busy bit"

   405

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

   406

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

   407

            return 0;

   408

        }

   409

   410

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

   411

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

   412

            return -1;

   413

        }

   414

    }

   415

}

   416

   417

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

   418

   419

/**

   420

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

   421

   \return 0 in case of success, else < 0

   422

*/

   423

   424

int ec_slave_sii_write16(ec_slave_t *slave,

   425

                         /**< EtherCAT slave */

   426

                         uint16_t offset,

   427

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

   428

                         uint16_t value

   429

                         /**< new value */

   430

                         )

   431

{

   432

    ec_command_t *command;

   433

    cycles_t start, end, timeout;

   434

   435

    command = &slave->master->simple_command;

   436

   437

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

   438

            slave->ring_position, offset, value);

   439

   440

    // initiate write operation

   441

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

   442

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

   443

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

   444

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

   445

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

   446

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

   447

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

   448

        return -1;

   449

    }

   450

   451

    start = get_cycles();

   452

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

   453

   454

    while (1)

   455

    {

   456

        udelay(10);

   457

   458

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

   459

            return -1;

   460

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

   461

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

   462

                   slave->ring_position);

   463

            return -1;

   464

        }

   465

   466

        end = get_cycles();

   467

   468

        // check "busy bit"

   469

        if (likely((EC_READ_U8(command->data + 1) & 0x82) == 0)) {

   470

            if (EC_READ_U8(command->data + 1) & 0x40) {

   471

                EC_ERR("SII-write failed!\n");

   472

                return -1;

   473

            }

   474

            else {

   475

                EC_INFO("SII-write succeeded!\n");

   476

                return 0;

   477

            }

   478

        }

   479

   480

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

   481

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

   482

            return -1;

   483

        }

   484

    }