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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

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

    26

 *  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

    28

 *  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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 *

    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

    61

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

    62

    63

/** \cond */

    64

    65

EC_SYSFS_READ_ATTR(info);

    66

EC_SYSFS_READ_WRITE_ATTR(state);

    67

EC_SYSFS_READ_WRITE_ATTR(eeprom);

    68

EC_SYSFS_READ_WRITE_ATTR(alias);

    69

    70

static struct attribute *def_attrs[] = {

    71

    &attr_info,

    72

    &attr_state,

    73

    &attr_eeprom,

    74

    &attr_alias,

    75

    NULL,

    76

};

    77

    78

static struct sysfs_ops sysfs_ops = {

    79

    .show = ec_show_slave_attribute,

    80

    .store = ec_store_slave_attribute

    81

};

    82

    83

static struct kobj_type ktype_ec_slave = {

    84

    .release = ec_slave_clear,

    85

    .sysfs_ops = &sysfs_ops,

    86

    .default_attrs = def_attrs

    87

};

    88

    89

static struct kobj_type ktype_ec_slave_sdos = {

    90

    .release = ec_slave_sdos_clear

    91

};

    92

    93

/** \endcond */

    94

    95

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

    96

    97

/**

    98

   Slave constructor.

    99

   \return 0 in case of success, else < 0

   100

*/

   101

   102

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

   103

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

   104

                  uint16_t ring_position, /**< ring position */

   105

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

   106

                  )

   107

{

   108

    unsigned int i;

   109

   110

    slave->ring_position = ring_position;

   111

    slave->station_address = station_address;

   112

   113

    slave->master = master;

   114

   115

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

   116

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   117

    slave->self_configured = 0;

   118

    slave->error_flag = 0;

   119

    slave->online_state = EC_SLAVE_ONLINE;

   120

    slave->fmmu_count = 0;

   121

   122

    slave->coupler_index = 0;

   123

    slave->coupler_subindex = 0xFFFF;

   124

   125

    slave->base_type = 0;

   126

    slave->base_revision = 0;

   127

    slave->base_build = 0;

   128

    slave->base_fmmu_count = 0;

   129

    slave->base_sync_count = 0;

   130

   131

    slave->eeprom_data = NULL;

   132

    slave->eeprom_size = 0;

   133

   134

    slave->sii_alias = 0;

   135

    slave->sii_vendor_id = 0;

   136

    slave->sii_product_code = 0;

   137

    slave->sii_revision_number = 0;

   138

    slave->sii_serial_number = 0;

   139

    slave->sii_rx_mailbox_offset = 0;

   140

    slave->sii_rx_mailbox_size = 0;

   141

    slave->sii_tx_mailbox_offset = 0;

   142

    slave->sii_tx_mailbox_size = 0;

   143

    slave->sii_mailbox_protocols = 0;

   144

    slave->sii_group = NULL;

   145

    slave->sii_image = NULL;

   146

    slave->sii_order = NULL;

   147

    slave->sii_name = NULL;

   148

    slave->sii_current_on_ebus = 0;

   149

   150

    INIT_LIST_HEAD(&slave->sii_strings);

   151

    INIT_LIST_HEAD(&slave->sii_syncs);

   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->jiffies_preop = 0;

   158

   159

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

   160

        slave->dl_link[i] = 0;

   161

        slave->dl_loop[i] = 0;

   162

        slave->dl_signal[i] = 0;

   163

        slave->sii_physical_layer[i] = 0xFF;

   164

    }

   165

   166

    // init kobject and add it to the hierarchy

   167

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

   168

    kobject_init(&slave->kobj);

   169

    slave->kobj.ktype = &ktype_ec_slave;

   170

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

   171

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

   172

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

   173

        goto out_slave_put;

   174

    }

   175

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

   176

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

   177

        goto out_slave_put;

   178

    }

   179

   180

    // init SDO kobject and add it to the hierarchy

   181

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

   182

    kobject_init(&slave->sdo_kobj);

   183

    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

   184

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

   185

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

   186

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

   187

        goto out_sdo_put;

   188

    }

   189

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

   190

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

   191

        goto out_sdo_put;

   192

    }

   193

   194

    return 0;

   195

   196

 out_sdo_put:

   197

    kobject_put(&slave->sdo_kobj);

   198

    kobject_del(&slave->kobj);

   199

 out_slave_put:

   200

    kobject_put(&slave->kobj);

   201

    return -1;

   202

}

   203

   204

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

   205

   206

/**

   207

   Slave destructor.

   208

   Clears and frees a slave object.

   209

*/

   210

   211

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

   212

{

   213

    ec_sdo_t *sdo, *next_sdo;

   214

   215

    // free all SDOs

   216

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

   217

        list_del(&sdo->list);

   218

        ec_sdo_destroy(sdo);

   219

    }

   220

   221

    // free SDO kobject

   222

    kobject_del(&slave->sdo_kobj);

   223

    kobject_put(&slave->sdo_kobj);

   224

   225

    // destroy self

   226

    kobject_del(&slave->kobj);

   227

    kobject_put(&slave->kobj);

   228

}

   229

   230

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

   231

   232

/**

   233

   Clear and free slave.

   234

   This method is called by the kobject,

   235

   once there are no more references to it.

   236

*/

   237

   238

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

   239

{

   240

    ec_slave_t *slave;

   241

    ec_sii_string_t *string, *next_str;

   242

    ec_sii_sync_t *sync, *next_sync;

   243

    ec_sii_pdo_t *pdo, *next_pdo;

   244

    ec_sii_pdo_entry_t *entry, *next_ent;

   245

    ec_sdo_data_t *sdodata, *next_sdodata;

   246

   247

    slave = container_of(kobj, ec_slave_t, kobj);

   248

   249

    // free all string objects

   250

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

   251

        list_del(&string->list);

   252

        kfree(string);

   253

    }

   254

   255

    // free all sync managers

   256

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

   257

        list_del(&sync->list);

   258

        kfree(sync);

   259

    }

   260

   261

    // free all PDOs

   262

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

   263

        list_del(&pdo->list);

   264

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

   265

   266

        // free all PDO entries

   267

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

   268

            list_del(&entry->list);

   269

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

   270

            kfree(entry);

   271

        }

   272

   273

        kfree(pdo);

   274

    }

   275

   276

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

   277

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

   278

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

   279

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

   280

   281

    // free all SDO configurations

   282

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

   283

        list_del(&sdodata->list);

   284

        kfree(sdodata->data);

   285

        kfree(sdodata);

   286

    }

   287

   288

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

   289

   290

    kfree(slave);

   291

}

   292

   293

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

   294

   295

/**

   296

*/

   297

   298

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

   299

{

   300

}

   301

   302

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

   303

   304

/**

   305

   Reset slave from operation mode.

   306

*/

   307

   308

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

   309

{

   310

    ec_sdo_data_t *sdodata, *next_sdodata;

   311

    ec_sii_sync_t *sync;

   312

   313

    // remove FMMU configurations

   314

    slave->fmmu_count = 0;

   315

   316

    // free all SDO configurations

   317

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

   318

        list_del(&sdodata->list);

   319

        kfree(sdodata->data);

   320

        kfree(sdodata);

   321

    }

   322

   323

    // remove estimated sync manager sizes

   324

    list_for_each_entry(sync, &slave->sii_syncs, list) {

   325

        sync->est_length = 0;

   326

    }

   327

}

   328

   329

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

   330

   331

/**

   332

 * Sets the application state of a slave.

   333

 */

   334

   335

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

   336

        ec_slave_state_t new_state /**< new application state */

   337

        )

   338

{

   339

    if (new_state != slave->current_state) {

   340

        if (slave->master->debug_level) {

   341

            char old_state[EC_STATE_STRING_SIZE],

   342

                cur_state[EC_STATE_STRING_SIZE];

   343

            ec_state_string(slave->current_state, old_state);

   344

            ec_state_string(new_state, cur_state);

   345

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

   346

                   slave->ring_position, old_state, cur_state);

   347

        }

   348

        slave->current_state = new_state;

   349

    }

   350

}

   351

   352

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

   353

   354

/**

   355

 * Sets the online state of a slave.

   356

 */

   357

   358

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

   359

        ec_slave_online_state_t new_state /**< new online state */

   360

        )

   361

{

   362

    if (new_state == EC_SLAVE_OFFLINE &&

   363

            slave->online_state == EC_SLAVE_ONLINE) {

   364

        if (slave->master->debug_level)

   365

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

   366

    }

   367

    else if (new_state == EC_SLAVE_ONLINE &&

   368

            slave->online_state == EC_SLAVE_OFFLINE) {

   369

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

   370

        if (slave->master->debug_level) {

   371

            char cur_state[EC_STATE_STRING_SIZE];

   372

            ec_state_string(slave->current_state, cur_state);

   373

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

   374

                   slave->ring_position, cur_state);

   375

        }

   376

    }

   377

   378

    slave->online_state = new_state;

   379

}

   380

   381

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

   382

   383

/**

   384

 */

   385

   386

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

   387

                            ec_slave_state_t state /**< new state */

   388

                            )

   389

{

   390

    slave->requested_state = state;

   391

    slave->error_flag = 0;

   392

}

   393

   394

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

   395

   396

/**

   397

   Fetches data from a STRING category.

   398

   \return 0 in case of success, else < 0

   399

*/

   400

   401

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

   402

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

   403

                           )

   404

{

   405

    unsigned int string_count, i;

   406

    size_t size;

   407

    off_t offset;

   408

    ec_sii_string_t *string;

   409

   410

    string_count = data[0];

   411

    offset = 1;

   412

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

   413

        size = data[offset];

   414

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

   415

        if (!(string = (ec_sii_string_t *)

   416

              kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {

   417

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

   418

            return -1;

   419

        }

   420

        string->size = size;

   421

        // string memory appended to string structure

   422

        string->data = (char *) string + sizeof(ec_sii_string_t);

   423

        memcpy(string->data, data + offset + 1, size);

   424

        string->data[size] = 0x00;

   425

        list_add_tail(&string->list, &slave->sii_strings);

   426

        offset += 1 + size;

   427

    }

   428

   429

    return 0;

   430

}

   431

   432

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

   433

   434

/**

   435

   Fetches data from a GENERAL category.

   436

   \return 0 in case of success, else < 0

   437

*/

   438

   439

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

   440

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

   441

                            )

   442

{

   443

    unsigned int i;

   444

   445

    ec_slave_locate_string(slave, data[0], &slave->sii_group);

   446

    ec_slave_locate_string(slave, data[1], &slave->sii_image);

   447

    ec_slave_locate_string(slave, data[2], &slave->sii_order);

   448

    ec_slave_locate_string(slave, data[3], &slave->sii_name);

   449

   450

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

   451

        slave->sii_physical_layer[i] =

   452

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

   453

   454

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

   455

}

   456

   457

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

   458

   459

/**

   460

   Fetches data from a SYNC MANAGER category.

   461

   \return 0 in case of success, else < 0

   462

*/

   463

   464

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

   465

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

   466

                        size_t word_count /**< number of words */

   467

                        )

   468

{

   469

    unsigned int sync_count, i;

   470

    ec_sii_sync_t *sync;

   471

   472

    sync_count = word_count / 4; // sync manager struct is 4 words long

   473

   474

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

   475

        if (!(sync = (ec_sii_sync_t *)

   476

              kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {

   477

            EC_ERR("Failed to allocate Sync-Manager memory.\n");

   478

            return -1;

   479

        }

   480

   481

        sync->index = i;

   482

        sync->physical_start_address = EC_READ_U16(data);

   483

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

   484

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

   485

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

   486

   487

        sync->est_length = 0;