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

    11

 *  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

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 *

    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

    90

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

    91

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

    92

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

    93

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

    94

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

    95

    }

    96

    97

    slave->sii_words = NULL;

    98

    slave->sii_nwords = 0;

    99

   100

    slave->sii.alias = 0x0000;

   101

    slave->sii.vendor_id = 0x00000000;

   102

    slave->sii.product_code = 0x00000000;

   103

    slave->sii.revision_number = 0x00000000;

   104

    slave->sii.serial_number = 0x00000000;

   105

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   106

    slave->sii.boot_rx_mailbox_size = 0x0000;

   107

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   108

    slave->sii.boot_tx_mailbox_size = 0x0000;

   109

    slave->sii.std_rx_mailbox_offset = 0x0000;

   110

    slave->sii.std_rx_mailbox_size = 0x0000;

   111

    slave->sii.std_tx_mailbox_offset = 0x0000;

   112

    slave->sii.std_tx_mailbox_size = 0x0000;

   113

    slave->sii.mailbox_protocols = 0;

   114

   115

    slave->sii.strings = NULL;

   116

    slave->sii.string_count = 0;

   117

   118

    slave->sii.has_general = 0;

   119

    slave->sii.group = NULL;

   120

    slave->sii.image = NULL;

   121

    slave->sii.order = NULL;

   122

    slave->sii.name = NULL;

   123

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

   124

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

   125

    slave->sii.current_on_ebus = 0;

   126

   127

    slave->sii.syncs = NULL;

   128

    slave->sii.sync_count = 0;

   129

   130

    INIT_LIST_HEAD(&slave->sii.pdos);

   131

   132

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   133

   134

    slave->sdo_dictionary_fetched = 0;

   135

    slave->jiffies_preop = 0;

   136

}

   137

   138

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

   139

   140

/**

   141

   Slave destructor.

   142

   Clears and frees a slave object.

   143

*/

   144

   145

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

   146

{

   147

    ec_sdo_t *sdo, *next_sdo;

   148

    unsigned int i;

   149

    ec_pdo_t *pdo, *next_pdo;

   150

   151

    if (slave->config)

   152

        ec_slave_config_detach(slave->config);

   153

   154

    // free all SDOs

   155

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

   156

        list_del(&sdo->list);

   157

        ec_sdo_clear(sdo);

   158

        kfree(sdo);

   159

    }

   160

   161

    // free all strings

   162

    if (slave->sii.strings) {

   163

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

   164

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

   165

        kfree(slave->sii.strings);

   166

    }

   167

   168

    // free all sync managers

   169

    ec_slave_clear_sync_managers(slave);

   170

   171

    // free all SII PDOs

   172

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

   173

        list_del(&pdo->list);

   174

        ec_pdo_clear(pdo);

   175

        kfree(pdo);

   176

    }

   177

   178

    if (slave->sii_words)

   179

        kfree(slave->sii_words);

   180

}

   181

   182

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

   183

   184

/** Clear the sync manager array. 

   185

 */

   186

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

   187

{

   188

    unsigned int i;

   189

   190

    if (slave->sii.syncs) {

   191

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

   192

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

   193

        }

   194

        kfree(slave->sii.syncs);

   195

        slave->sii.syncs = NULL;

   196

    }

   197

}

   198

   199

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

   200

   201

/**

   202

 * Sets the application state of a slave.

   203

 */

   204

   205

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

   206

        ec_slave_state_t new_state /**< new application state */

   207

        )

   208

{

   209

    if (new_state != slave->current_state) {

   210

        if (slave->master->debug_level) {

   211

            char old_state[EC_STATE_STRING_SIZE],

   212

                cur_state[EC_STATE_STRING_SIZE];

   213

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

   214

            ec_state_string(new_state, cur_state, 0);

   215

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

   216

                   slave->ring_position, old_state, cur_state);

   217

        }

   218

        slave->current_state = new_state;

   219

    }

   220

}

   221

   222

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

   223

   224

/**

   225

 * Request a slave state and resets the error flag.

   226

 */

   227

   228

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

   229

                            ec_slave_state_t state /**< new state */

   230

                            )

   231

{

   232

    slave->requested_state = state;

   233

    slave->error_flag = 0;

   234

}

   235

   236

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

   237

   238

/**

   239

   Fetches data from a STRING category.

   240

   \todo range checking

   241

   \return 0 in case of success, else < 0

   242

*/

   243

   244

int ec_slave_fetch_sii_strings(

   245

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

   246

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

   247

        size_t data_size /**< number of bytes */

   248

        )

   249

{

   250

    int i, err;

   251

    size_t size;

   252

    off_t offset;

   253

   254

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

   255

   256

    if (slave->sii.string_count) {

   257

        if (!(slave->sii.strings =

   258

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

   259

                        GFP_KERNEL))) {

   260

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

   261

            err = -ENOMEM;

   262

            goto out_zero;

   263

        }

   264

   265

        offset = 1;

   266

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

   267

            size = data[offset];

   268

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

   269

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

   270

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

   271

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

   272

                err = -ENOMEM;

   273

                goto out_free;

   274

            }

   275

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

   276

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

   277

            offset += 1 + size;

   278

        }

   279

    }

   280

   281

    return 0;

   282

   283

out_free:

   284

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

   285

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

   286

    kfree(slave->sii.strings);

   287

    slave->sii.strings = NULL;

   288

out_zero:

   289

    slave->sii.string_count = 0;

   290

    return err;

   291

}

   292

   293

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

   294

   295

/**

   296

   Fetches data from a GENERAL category.

   297

   \return 0 in case of success, else < 0

   298

*/

   299

   300

int ec_slave_fetch_sii_general(

   301

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

   302

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

   303

        size_t data_size /**< size in bytes */

   304

        )

   305

{

   306

    unsigned int i;

   307

    uint8_t flags;

   308

   309

    if (data_size != 32) {

   310

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

   311

                data_size, slave->ring_position);

   312

        return -EINVAL;

   313

    }

   314

   315

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

   316

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

   317

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

   318

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

   319

   320

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

   321

        slave->sii.physical_layer[i] =

   322

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

   323

   324

    // read CoE details

   325

    flags = EC_READ_U8(data + 5);

   326

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

   327

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

   328

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

   329

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

   330

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

   331

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

   332

   333

    // read general flags

   334

    flags = EC_READ_U8(data + 0x000B);

   335

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

   336

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

   337

   338

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

   339

    slave->sii.has_general = 1;

   340

    return 0;

   341

}

   342

   343

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

   344

   345

/** Fetches data from a SYNC MANAGER category.

   346

 *

   347

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

   348

 *

   349

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

   350

 */

   351

int ec_slave_fetch_sii_syncs(

   352

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

   353

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

   354

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

   355

        )

   356

{

   357

    unsigned int i, count, total_count;

   358

    ec_sync_t *sync;

   359

    size_t memsize;

   360

    ec_sync_t *syncs;

   361

    uint8_t index;

   362

   363

    // one sync manager struct is 4 words long

   364

    if (data_size % 8) {

   365

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

   366

                data_size, slave->ring_position);

   367

        return -EINVAL;

   368

    }

   369

   370

    count = data_size / 8;

   371

   372

    if (count) {

   373

        total_count = count + slave->sii.sync_count;

   374

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   375

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

   376

            return -EOVERFLOW;

   377

        }

   378

        memsize = sizeof(ec_sync_t) * total_count;

   379

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

   380

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

   381

                    memsize);

   382

            return -ENOMEM;

   383

        }

   384

   385

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

   386

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

   387

   388

        // initialize new sync managers

   389

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

   390

            index = i + slave->sii.sync_count;

   391

            sync = &syncs[index];

   392

   393

            ec_sync_init(sync, slave);

   394

            sync->physical_start_address = EC_READ_U16(data);

   395

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

   396

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

   397

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

   398

        }

   399

   400

        if (slave->sii.syncs)

   401

            kfree(slave->sii.syncs);

   402

        slave->sii.syncs = syncs;

   403

        slave->sii.sync_count = total_count;

   404

    }

   405

   406

    return 0;

   407

}

   408

   409

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

   410

   411

/**

   412

   Fetches data from a [RT]xPDO category.

   413

   \return 0 in case of success, else < 0

   414

*/

   415

   416

int ec_slave_fetch_sii_pdos(

   417

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

   418

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

   419

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

   420

        ec_direction_t dir /**< PDO direction. */

   421

        )

   422

{

   423

    int ret;

   424

    ec_pdo_t *pdo;

   425

    ec_pdo_entry_t *entry;

   426

    unsigned int entry_count, i;

   427

   428

    while (data_size >= 8) {

   429

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

   430

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

   431

            return -ENOMEM;

   432

        }

   433

   434

        ec_pdo_init(pdo);

   435

        pdo->index = EC_READ_U16(data);

   436

        entry_count = EC_READ_U8(data + 2);

   437

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

   438

        ret = ec_pdo_set_name(pdo,

   439

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

   440

        if (ret) {

   441

            ec_pdo_clear(pdo);

   442

            kfree(pdo);

   443

            return ret;

   444

        }

   445

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

   446

   447

        data_size -= 8;

   448

        data += 8;

   449

   450

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

   451

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

   452

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

   453

                return -ENOMEM;

   454

            }

   455

   456

            ec_pdo_entry_init(entry);

   457

            entry->index = EC_READ_U16(data);

   458

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

   459

            ret = ec_pdo_entry_set_name(entry,

   460

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

   461

            if (ret) {

   462

                ec_pdo_entry_clear(entry);

   463

                kfree(entry);

   464

                return ret;

   465

            }

   466

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

   467

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

   468

   469

            data_size -= 8;

   470

            data += 8;

   471

        }

   472

   473

        // if sync manager index is positive, the PDO is mapped by default

   474

        if (pdo->sync_index >= 0) {

   475

            ec_sync_t *sync;

   476

   477

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

   478

                EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",

   479

                        pdo->sync_index, pdo->index, slave->ring_position);

   480

                return -ENOENT;

   481

            }

   482

   483

            ret = ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);

   484