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; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave configuration methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/slab.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

/** Slave configuration constructor.

    51

 *

    52

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

    53

 * position parameters.

    54

 */

    55

void ec_slave_config_init(

    56

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

    57

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

    58

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

    59

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

    60

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

    61

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

    62

        )

    63

{

    64

    unsigned int i;

    65

    66

    sc->master = master;

    67

    sc->alias = alias;

    68

    sc->position = position;

    69

    sc->vendor_id = vendor_id;

    70

    sc->product_code = product_code;

    71

    sc->slave = NULL;

    72

    73

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

    74

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

    75

    76

    INIT_LIST_HEAD(&sc->sdo_configs);

    77

    INIT_LIST_HEAD(&sc->sdo_requests);

    78

    79

    sc->used_fmmus = 0;

    80

}

    81

    82

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

    83

    84

/** Slave configuration destructor.

    85

 *

    86

 * Clears and frees a slave configuration object.

    87

 */

    88

void ec_slave_config_clear(

    89

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

    90

        )

    91

{

    92

    unsigned int i;

    93

    ec_sdo_request_t *req, *next_req;

    94

    95

    ec_slave_config_detach(sc);

    96

    97

    // Free sync managers

    98

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

    99

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

   100

   101

    // free all Sdo configurations

   102

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

   103

        list_del(&req->list);

   104

        ec_sdo_request_clear(req);

   105

        kfree(req);

   106

    }

   107

   108

    // free all Sdo requests

   109

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

   110

        list_del(&req->list);

   111

        ec_sdo_request_clear(req);

   112

        kfree(req);

   113

    }

   114

}

   115

   116

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

   117

   118

/** Prepares an FMMU configuration.

   119

 *

   120

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

   121

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

   122

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

   123

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

   124

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

   125

 * returns with success.

   126

 *

   127

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

   128

 * \retval -1  Error, FMMU limit reached.

   129

 */

   130

int ec_slave_config_prepare_fmmu(

   131

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

   132

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

   133

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

   134

        ec_direction_t dir /**< Pdo direction. */

   135

        )

   136

{

   137

    unsigned int i;

   138

    ec_fmmu_config_t *fmmu;

   139

   140

    // FMMU configuration already prepared?

   141

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

   142

        fmmu = &sc->fmmu_configs[i];

   143

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

   144

            return fmmu->logical_start_address;

   145

    }

   146

   147

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   148

        EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",

   149

                sc->alias, sc->position);

   150

        return -1;

   151

    }

   152

   153

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

   154

   155

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

   156

    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);

   157

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

   158

   159

    return fmmu->logical_start_address;

   160

}

   161

   162

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

   163

   164

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

   165

 *

   166

 * \retval 0 Success.

   167

 * \retval -1 Slave not found.

   168

 * \retval -2 Slave already configured.

   169

 * \retval -3 Invalid slave type found at the given position.

   170

 */

   171

int ec_slave_config_attach(

   172

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

   173

        )

   174

{

   175

	ec_slave_t *slave;

   176

   177

	if (sc->slave)

   178

		return 0; // already attached

   179

   180

    if (!(slave = ec_master_find_slave(

   181

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

   182

        if (sc->master->debug_level)

   183

            EC_DBG("Failed to find slave for configuration %u:%u.\n",

   184

                    sc->alias, sc->position);

   185

        return -1;

   186

    }

   187

   188

	if (slave->config) {

   189

        if (sc->master->debug_level)

   190

            EC_DBG("Failed to attach slave configuration %u:%u. Slave %u"

   191

                    " already has a configuration!\n", sc->alias,

   192

                    sc->position, slave->ring_position);

   193

        return -2;

   194

    }

   195

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

   196

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

   197

        if (sc->master->debug_level)

   198

            EC_DBG("Slave %u has an invalid type (0x%08X/0x%08X) for"

   199

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

   200

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

   201

                    slave->sii.product_code, sc->alias, sc->position,

   202

                    sc->vendor_id, sc->product_code);

   203

        return -3;

   204

	}

   205

   206

	// attach slave

   207

	slave->config = sc;

   208

	sc->slave = slave;

   209

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   210

   211

    if (sc->master->debug_level)

   212

        EC_DBG("Attached slave %u to config %u:%u.\n",

   213

                slave->ring_position, sc->alias, sc->position);

   214

   215

	return 0;

   216

}

   217

   218

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

   219

   220

/** Detaches the configuration from a slave object.

   221

 */

   222

void ec_slave_config_detach(

   223

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

   224

        )

   225

{

   226

    if (sc->slave) {

   227

        sc->slave->config = NULL;

   228

        sc->slave = NULL;

   229

    }

   230

}

   231

   232

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

   233

   234

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

   235

 */

   236

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   237

{

   238

    uint8_t sync_index;

   239

    ec_sync_config_t *sync_config;

   240

    const ec_sync_t *sync;

   241

   242

    if (!sc->slave)

   243

        return;

   244

   245

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

   246

        sync_config = &sc->sync_configs[sync_index];

   247

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

   248

            sync_config->dir = ec_sync_default_direction(sync);

   249

            if (sync_config->dir == EC_DIR_INVALID)

   250

                EC_WARN("SM%u of slave %u has an invalid direction field!\n",

   251

                        sync_index, sc->slave->ring_position);

   252

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

   253

        }

   254

    }

   255

}

   256

   257

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

   258

   259

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

   260

 */

   261

void ec_slave_config_load_default_mapping(

   262

        const ec_slave_config_t *sc,

   263

        ec_pdo_t *pdo

   264

        )

   265

{

   266

    unsigned int i;

   267

    const ec_sync_t *sync;

   268

    const ec_pdo_t *default_pdo;

   269

   270

    if (!sc->slave)

   271

        return;

   272

   273

    if (sc->master->debug_level)

   274

        EC_DBG("Loading default mapping for Pdo 0x%04X in config %u:%u.\n",

   275

                pdo->index, sc->alias, sc->position);

   276

   277

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

   278

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

   279

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

   280

   281

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

   282

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

   283

                continue;

   284

   285

            if (default_pdo->name) {

   286

                if (sc->master->debug_level)

   287

                    EC_DBG("Found Pdo name \"%s\".\n", default_pdo->name);

   288

   289

                // take Pdo name from assigned one

   290

                ec_pdo_set_name(pdo, default_pdo->name);

   291

            }

   292

   293

            // copy entries (= default Pdo mapping)

   294

            if (ec_pdo_copy_entries(pdo, default_pdo))

   295

                return;

   296

   297

            if (sc->master->debug_level) {

   298

                const ec_pdo_entry_t *entry;

   299

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

   300

                    EC_DBG("Entry 0x%04X:%02X.\n",

   301

                            entry->index, entry->subindex);

   302

                }

   303

            }

   304

   305

            return;

   306

        }

   307

    }

   308

   309

    if (sc->master->debug_level)

   310

        EC_DBG("No default mapping found.\n");

   311

}

   312

   313

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

   314

   315

/** Get the number of Sdo configurations.

   316

 *

   317

 * \return Number of Sdo configurations.

   318

 */

   319

unsigned int ec_slave_config_sdo_count(

   320

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

   321

        )

   322

{

   323

	const ec_sdo_request_t *req;

   324

	unsigned int count = 0;

   325

   326

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

   327

		count++;

   328

	}

   329

   330

	return count;

   331

}

   332

   333

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

   334

   335

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

   336

 *

   337

 * Const version.

   338

 */

   339

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   340

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

   341

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

   342

        )

   343

{

   344

    const ec_sdo_request_t *req;

   345

   346

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

   347

        if (pos--)

   348

            continue;

   349

        return req;

   350

    }

   351

   352

    return NULL;

   353

}

   354

   355

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

   356

 *  Realtime interface

   357

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

   358

   359

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   360

        ec_direction_t dir)

   361

{

   362

    ec_sync_config_t *sync_config;

   363

   364

    if (sc->master->debug_level)

   365

        EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%x, sync_index = %u, "

   366

                "dir = %u)\n", (u32) sc, sync_index, dir);

   367

   368

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   369

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

   370

        return -1;

   371

    }

   372

   373

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

   374

        EC_ERR("Invalid direction %u!\n", (u32) dir);

   375

        return -1;

   376

    }

   377

   378

    sync_config = &sc->sync_configs[sync_index];

   379

    sync_config->dir = dir;

   380

    return 0;

   381

}

   382

   383

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

   384

   385

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   386

        uint8_t sync_index, uint16_t pdo_index)

   387

{

   388

    ec_pdo_t *pdo;

   389

   390

    if (sc->master->debug_level)

   391

        EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%x, sync_index = %u, "

   392

                "pdo_index = 0x%04X)\n", (u32) sc, sync_index, pdo_index);

   393

   394

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   395

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

   396

        return -1;

   397

    }

   398

   399

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

   400

   401

    if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos,

   402

                    pdo_index))) {

   403

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

   404

        return -1;

   405

    }

   406

    pdo->sync_index = sync_index;

   407

   408

    ec_slave_config_load_default_mapping(sc, pdo);

   409

   410

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

   411

    return 0;

   412

}

   413

   414

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

   415

   416

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   417

        uint8_t sync_index)

   418

{

   419

    if (sc->master->debug_level)

   420

        EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%x, "

   421

                "sync_index = %u)\n", (u32) sc, sync_index);

   422

   423

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   424

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

   425

        return;

   426

    }

   427

   428

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

   429

    ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);

   430

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

   431

}

   432

   433

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

   434

   435

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   436

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   437

        uint8_t entry_bit_length)

   438

{

   439

    uint8_t sync_index;

   440

    ec_pdo_t *pdo = NULL;

   441

    int retval = -1;

   442

   443

    if (sc->master->debug_level)

   444

        EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%x, "

   445

                "pdo_index = 0x%04X, entry_index = 0x%04X, "

   446

                "entry_subindex = 0x%02X, entry_bit_length = %u)\n",

   447

                (u32) sc, pdo_index, entry_index, entry_subindex,

   448

                entry_bit_length);

   449

   450

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

   451

        if ((pdo = ec_pdo_list_find_pdo(

   452

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   453

            break;

   454

   455

    if (pdo) {

   456

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

   457

        retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   458

                entry_bit_length) ? 0 : -1;

   459

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

   460

    } else {

   461

        EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",

   462

                pdo_index, sc->alias, sc->position);

   463

    }

   464

   465

    return retval;

   466

}

   467

   468

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

   469

   470

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

   471

        uint16_t pdo_index)

   472

{

   473

    uint8_t sync_index;

   474

    ec_pdo_t *pdo = NULL;

   475

   476

    if (sc->master->debug_level)

   477

        EC_DBG("ecrt_slave_config_pdo_mapping_clear(sc = 0x%x, "

   478

                "pdo_index = 0x%04X)\n", (u32) sc, pdo_index);

   479

   480

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

   481

        if ((pdo = ec_pdo_list_find_pdo(

   482

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   483

            break;

   484

   485

    if (pdo) {

   486

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

   487

        ec_pdo_clear_entries(pdo);

   488

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

   489

    } else {

   490

        EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",

   491

                pdo_index, sc->alias, sc->position);

   492

    }

   493

}

   494

   495

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

   496

   497

int ecrt_slave_config_pdos(ec_slave_config_t *sc,

   498

        unsigned int n_syncs, const ec_sync_info_t syncs[])

   499

{

   500

    unsigned int i, j, k;