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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

    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.

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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 "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);

    60

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    61

    62

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

    63

    64

/** \cond */

    65

    66

EC_SYSFS_READ_ATTR(info);

    67

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[] = {

    72

    &attr_info,

    73

    &attr_state,

    74

    &attr_eeprom,

    75

    &attr_alias,

    76

    NULL,

    77

};

    78

    79

static struct sysfs_ops sysfs_ops = {

    80

    .show = ec_show_slave_attribute,

    81

    .store = ec_store_slave_attribute

    82

};

    83

    84

static struct kobj_type ktype_ec_slave = {

    85

    .release = ec_slave_clear,

    86

    .sysfs_ops = &sysfs_ops,

    87

    .default_attrs = def_attrs

    88

};

    89

    90

static struct kobj_type ktype_ec_slave_sdos = {

    91

    .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 */

   106

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

   107

                  )

   108

{

   109

    unsigned int i;

   110

   111

    slave->ring_position = ring_position;

   112

    slave->station_address = station_address;

   113

   114

    slave->master = master;

   115

   116

    slave->requested_state = EC_SLAVE_STATE_PREOP;

   117

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   118

    slave->self_configured = 0;

   119

    slave->error_flag = 0;

   120

    slave->online_state = EC_SLAVE_ONLINE;

   121

    slave->fmmu_count = 0;

   122

    slave->pdos_registered = 0;

   123

   124

    slave->base_type = 0;

   125

    slave->base_revision = 0;

   126

    slave->base_build = 0;

   127

    slave->base_fmmu_count = 0;

   128

   129

    slave->eeprom_data = NULL;

   130

    slave->eeprom_size = 0;

   131

   132

    slave->sii_alias = 0;

   133

    slave->sii_vendor_id = 0;

   134

    slave->sii_product_code = 0;

   135

    slave->sii_revision_number = 0;

   136

    slave->sii_serial_number = 0;

   137

    slave->sii_rx_mailbox_offset = 0;

   138

    slave->sii_rx_mailbox_size = 0;

   139

    slave->sii_tx_mailbox_offset = 0;

   140

    slave->sii_tx_mailbox_size = 0;

   141

    slave->sii_mailbox_protocols = 0;

   142

    slave->sii_group = NULL;

   143

    slave->sii_image = NULL;

   144

    slave->sii_order = NULL;

   145

    slave->sii_name = NULL;

   146

    slave->sii_current_on_ebus = 0;

   147

   148

    slave->sii_strings = NULL;

   149

    slave->sii_string_count = 0;

   150

    slave->sii_syncs = NULL;

   151

    slave->sii_sync_count = 0;

   152

    INIT_LIST_HEAD(&slave->sii_pdos);

   153

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   154

    INIT_LIST_HEAD(&slave->sdo_confs);

   155

   156

    slave->sdo_dictionary_fetched = 0;

   157

    slave->pdo_mapping_fetched = 0;

   158

    slave->jiffies_preop = 0;

   159

   160

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

   161

        slave->dl_link[i] = 0;

   162

        slave->dl_loop[i] = 0;

   163

        slave->dl_signal[i] = 0;

   164

        slave->sii_physical_layer[i] = 0xFF;

   165

    }

   166

   167

    // init kobject and add it to the hierarchy

   168

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

   169

    kobject_init(&slave->kobj);

   170

    slave->kobj.ktype = &ktype_ec_slave;

   171

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

   172

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

   173

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

   174

        goto out_slave_put;

   175

    }

   176

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

   177

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

   178

        goto out_slave_put;

   179

    }

   180

   181

    // init SDO kobject and add it to the hierarchy

   182

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

   183

    kobject_init(&slave->sdo_kobj);

   184

    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

   185

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

   186

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

   187

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

   188

        goto out_sdo_put;

   189

    }

   190

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

   191

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

   192

        goto out_sdo_put;

   193

    }

   194

   195

    return 0;

   196

   197

 out_sdo_put:

   198

    kobject_put(&slave->sdo_kobj);

   199

    kobject_del(&slave->kobj);

   200

 out_slave_put:

   201

    kobject_put(&slave->kobj);

   202

    return -1;

   203

}

   204

   205

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

   206

   207

/**

   208

   Slave destructor.

   209

   Clears and frees a slave object.

   210

*/

   211

   212

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

   213

{

   214

    ec_sdo_t *sdo, *next_sdo;

   215

   216

    // free all SDOs

   217

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

   218

        list_del(&sdo->list);

   219

        ec_sdo_destroy(sdo);

   220

    }

   221

   222

    // free SDO kobject

   223

    kobject_del(&slave->sdo_kobj);

   224

    kobject_put(&slave->sdo_kobj);

   225

   226

    // destroy self

   227

    kobject_del(&slave->kobj);

   228

    kobject_put(&slave->kobj);

   229

}

   230

   231

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

   232

   233

/**

   234

   Clear and free slave.

   235

   This method is called by the kobject,

   236

   once there are no more references to it.

   237

*/

   238

   239

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

   240

{

   241

    ec_slave_t *slave;

   242

    ec_pdo_t *pdo, *next_pdo;

   243

    ec_sdo_data_t *sdodata, *next_sdodata;

   244

    unsigned int i;

   245

   246

    slave = container_of(kobj, ec_slave_t, kobj);

   247

   248

    // free all strings

   249

    if (slave->sii_strings) {

   250

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

   251

            kfree(slave->sii_strings[i]);

   252

        kfree(slave->sii_strings);

   253

    }

   254

   255

    // free all sync managers

   256

    if (slave->sii_syncs) {

   257

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

   258

            ec_sync_clear(&slave->sii_syncs[i]);

   259

        }

   260

        kfree(slave->sii_syncs);

   261

    }

   262

   263

    // free all SII PDOs

   264

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

   265

        list_del(&pdo->list);

   266

        ec_pdo_clear(pdo);

   267

        kfree(pdo);

   268

    }

   269

   270

    // free all SDO configurations

   271

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

   272

        list_del(&sdodata->list);

   273

        kfree(sdodata->data);

   274

        kfree(sdodata);

   275

    }

   276

   277

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

   278

   279

    kfree(slave);

   280

}

   281

   282

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

   283

   284

/**

   285

 * SDO kobject clear method.

   286

 */

   287

   288

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

   289

{

   290

}

   291

   292

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

   293

   294

/**

   295

   Reset slave from operation mode.

   296

*/

   297

   298

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

   299

{

   300

    ec_sdo_data_t *sdodata, *next_sdodata;

   301

    unsigned int i;

   302

   303

    slave->fmmu_count = 0;

   304

    slave->pdos_registered = 0;

   305

   306

    // free all SDO configurations

   307

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

   308

        list_del(&sdodata->list);

   309

        kfree(sdodata->data);

   310

        kfree(sdodata);

   311

    }

   312

   313

    // remove estimated sync manager sizes

   314

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

   315

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

   316

    }

   317

}

   318

   319

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

   320

   321

/**

   322

 * Sets the application state of a slave.

   323

 */

   324

   325

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

   326

        ec_slave_state_t new_state /**< new application state */

   327

        )

   328

{

   329

    if (new_state != slave->current_state) {

   330

        if (slave->master->debug_level) {

   331

            char old_state[EC_STATE_STRING_SIZE],

   332

                cur_state[EC_STATE_STRING_SIZE];

   333

            ec_state_string(slave->current_state, old_state);

   334

            ec_state_string(new_state, cur_state);

   335

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

   336

                   slave->ring_position, old_state, cur_state);

   337

        }

   338

        slave->current_state = new_state;

   339

    }

   340

}

   341

   342

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

   343

   344

/**

   345

 * Sets the online state of a slave.

   346

 */

   347

   348

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

   349

        ec_slave_online_state_t new_state /**< new online state */

   350

        )

   351

{

   352

    if (new_state == EC_SLAVE_OFFLINE &&

   353

            slave->online_state == EC_SLAVE_ONLINE) {

   354

        if (slave->pdos_registered)

   355

            slave->master->pdo_slaves_offline++;

   356

        if (slave->master->debug_level)

   357

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

   358

    }

   359

    else if (new_state == EC_SLAVE_ONLINE &&

   360

            slave->online_state == EC_SLAVE_OFFLINE) {

   361

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

   362

        if (slave->pdos_registered)

   363

            slave->master->pdo_slaves_offline--;

   364

        if (slave->master->debug_level) {

   365

            char cur_state[EC_STATE_STRING_SIZE];

   366

            ec_state_string(slave->current_state, cur_state);

   367

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

   368

                   slave->ring_position, cur_state);

   369

        }

   370

    }

   371

   372

    slave->online_state = new_state;

   373

}

   374

   375

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

   376

   377

/**

   378

 * Request a slave state and resets the error flag.

   379

 */

   380

   381

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

   382

                            ec_slave_state_t state /**< new state */

   383

                            )

   384

{

   385

    slave->requested_state = state;

   386

    slave->error_flag = 0;

   387

}

   388

   389

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

   390

   391

/**

   392

   Fetches data from a STRING category.

   393

   \todo range checking

   394

   \return 0 in case of success, else < 0

   395

*/

   396

   397

int ec_slave_fetch_sii_strings(

   398

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

   399

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

   400

        size_t data_size /**< number of bytes */

   401

        )

   402

{

   403

    int i;

   404

    size_t size;

   405

    off_t offset;

   406

   407

    slave->sii_string_count = data[0];

   408

   409

    if (!slave->sii_string_count)

   410

        return 0;

   411

   412

    if (!(slave->sii_strings =

   413

                kmalloc(sizeof(char *) * slave->sii_string_count,

   414

                    GFP_KERNEL))) {

   415

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

   416

        goto out_zero;

   417

    }

   418

   419

    offset = 1;

   420

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

   421

        size = data[offset];

   422

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

   423

        if (!(slave->sii_strings[i] =

   424

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

   425

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

   426

            goto out_free;

   427

        }

   428

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

   429

        slave->sii_strings[i][size] = 0x00; // append binary zero

   430

        offset += 1 + size;

   431

    }

   432

   433

    return 0;

   434

   435

out_free:

   436

    for (i--; i >= 0; i--) kfree(slave->sii_strings[i]);

   437

    kfree(slave->sii_strings);

   438

    slave->sii_strings = NULL;

   439

out_zero:

   440

    slave->sii_string_count = 0;

   441

    return -1;

   442

}

   443

   444

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

   445

   446

/**

   447

   Fetches data from a GENERAL category.

   448

   \return 0 in case of success, else < 0

   449

*/

   450

   451

int ec_slave_fetch_sii_general(

   452

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

   453

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

   454

        size_t data_size /**< size in bytes */

   455

        )

   456

{

   457

    unsigned int i;

   458

   459

    if (data_size != 32) {

   460

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

   461

                data_size, slave->ring_position);

   462

        return -1;

   463

    }

   464

   465

    slave->sii_group = ec_slave_sii_string(slave, data[0]);

   466

    slave->sii_image = ec_slave_sii_string(slave, data[1]);

   467

    slave->sii_order = ec_slave_sii_string(slave, data[2]);

   468

    slave->sii_name = ec_slave_sii_string(slave, data[3]);

   469

   470

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

   471

        slave->sii_physical_layer[i] =

   472

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

   473

   474

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

   475

   476

    return 0;

   477

}

   478

   479

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

   480

   481

/**

   482

   Fetches data from a SYNC MANAGER category.

   483

   \return 0 in case of success, else < 0

   484

*/

   485

   486

int ec_slave_fetch_sii_syncs(

   487

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