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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

    22

 *  ---

    23

 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 *  vim: expandtab

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 *

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

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    32

/**

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   \file

    34

   EtherCAT slave configuration methods.

    35

*/

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    37

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

    38

    39

#include <linux/module.h>

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#include <linux/slab.h>

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#include "globals.h"

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#include "master.h"

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#include "voe_handler.h"

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#include "slave_config.h"

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    48

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

    49

    50

/** Slave configuration constructor.

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 *

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

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 * position parameters.

    54

 */

    55

void ec_slave_config_init(

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

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

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

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

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

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

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        )

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{

    64

    unsigned int i;

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    sc->master = master;

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    68

    sc->alias = alias;

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    sc->position = position;

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    sc->vendor_id = vendor_id;

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    sc->product_code = product_code;

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    sc->watchdog_divider = 0; // use default

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    sc->watchdog_intervals = 0; // use default

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    sc->slave = NULL;

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    77

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

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

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    80

    sc->used_fmmus = 0;

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    sc->dc_assign_activate = 0x0000;

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    sc->dc_sync[0].cycle_time = 0x00000000;

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    sc->dc_sync[1].cycle_time = 0x00000000;

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    sc->dc_sync[0].shift_time = 0x00000000;

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    sc->dc_sync[1].shift_time = 0x00000000;

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    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    INIT_LIST_HEAD(&sc->voe_handlers);

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    INIT_LIST_HEAD(&sc->soe_configs);

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}

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    93

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

    94

    95

/** Slave configuration destructor.

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 *

    97

 * Clears and frees a slave configuration object.

    98

 */

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void ec_slave_config_clear(

   100

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

   101

        )

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{

   103

    unsigned int i;

   104

    ec_sdo_request_t *req, *next_req;

   105

    ec_voe_handler_t *voe, *next_voe;

   106

    ec_soe_request_t *soe, *next_soe;

   107

   108

    ec_slave_config_detach(sc);

   109

   110

    // Free sync managers

   111

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

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

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   114

    // free all SDO configurations

   115

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

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // free all SDO requests

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

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // free all VoE handlers

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    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {

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        list_del(&voe->list);

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        ec_voe_handler_clear(voe);

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        kfree(voe);

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    }

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    // free all SoE configurations

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    list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {

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        list_del(&soe->list);

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        ec_soe_request_clear(soe);

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        kfree(soe);

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    }

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}

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

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   145

/** Prepares an FMMU configuration.

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 *

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

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

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

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

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

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 * returns with success.

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 *

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

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 * \retval  <0 Error code.

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 */

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int ec_slave_config_prepare_fmmu(

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

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

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

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        ec_direction_t dir /**< PDO direction. */

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        )

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{

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    unsigned int i;

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    ec_fmmu_config_t *fmmu;

   166

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    // FMMU configuration already prepared?

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

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        fmmu = &sc->fmmu_configs[i];

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

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            return fmmu->logical_start_address;

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    }

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    if (sc->used_fmmus == EC_MAX_FMMUS) {

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        EC_CONFIG_ERR(sc, "FMMU limit reached!\n");

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        return -EOVERFLOW;

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    }

   178

   179

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

   180

   181

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

   182

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

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

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    return fmmu->logical_start_address;

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}

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   188

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

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   190

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

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 *

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 * \retval  0 Success.

   193

 * \retval <0 Error code.

   194

 */

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int ec_slave_config_attach(

   196

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

   197

        )

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{

   199

    ec_slave_t *slave;

   200

   201

    if (sc->slave)

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        return 0; // already attached

   203

   204

    if (!(slave = ec_master_find_slave(

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

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        EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n");

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        return -ENOENT;

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    }

   209

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    if (slave->config) {

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        EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u"

   212

                " already has a configuration!\n", slave->ring_position);

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        return -EEXIST;

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    }

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    if (

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#ifdef EC_IDENT_WILDCARDS

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            sc->vendor_id != 0xffffffff &&

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#endif

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

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       ) {

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        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching vendor ID (0x%08X)"

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                " for configuration (0x%08X).\n",

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                slave->ring_position, slave->sii.vendor_id, sc->vendor_id);

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        return -EINVAL;

   226

    }

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   228

    if (

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#ifdef EC_IDENT_WILDCARDS

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            sc->product_code != 0xffffffff &&

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#endif

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            slave->sii.product_code != sc->product_code

   233

       ) {

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        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching product code (0x%08X)"

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                " for configuration (0x%08X).\n",

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                slave->ring_position, slave->sii.product_code,

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                sc->product_code);

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        return -EINVAL;

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    }

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   241

    // attach slave

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    slave->config = sc;

   243

    sc->slave = slave;

   244

   245

    EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);

   246

    return 0;

   247

}

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   249

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

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   251

/** Detaches the configuration from a slave object.

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 */

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void ec_slave_config_detach(

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

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        )

   256

{

   257

    if (sc->slave) {

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        sc->slave->config = NULL;

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        sc->slave = NULL;

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    }

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}

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   263

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

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   265

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

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 */

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void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

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{

   269

    uint8_t sync_index;

   270

    ec_sync_config_t *sync_config;

   271

    const ec_sync_t *sync;

   272

   273

    if (!sc->slave)

   274

        return;

   275

   276

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

   277

        sync_config = &sc->sync_configs[sync_index];

   278

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

   279

            sync_config->dir = ec_sync_default_direction(sync);

   280

            if (sync_config->dir == EC_DIR_INVALID)

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                EC_SLAVE_WARN(sc->slave,

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                        "SM%u has an invalid direction field!\n", sync_index);

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

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        }

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    }

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}

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   288

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

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   290

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

   291

 */

   292

void ec_slave_config_load_default_mapping(

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        const ec_slave_config_t *sc,

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        ec_pdo_t *pdo

   295

        )

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{

   297

    unsigned int i;

   298

    const ec_sync_t *sync;

   299

    const ec_pdo_t *default_pdo;

   300

   301

    if (!sc->slave)

   302

        return;

   303

   304

    EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n",

   305

            pdo->index);

   306

   307

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

   308

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

   309

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

   310

   311

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

   312

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

   313

                continue;

   314

   315

            if (default_pdo->name) {

   316

                EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n",

   317

                        default_pdo->name);

   318

   319

                // take PDO name from assigned one

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                ec_pdo_set_name(pdo, default_pdo->name);

   321

            }

   322

   323

            // copy entries (= default PDO mapping)

   324

            if (ec_pdo_copy_entries(pdo, default_pdo))

   325

                return;

   326

   327

            if (sc->master->debug_level) {

   328

                const ec_pdo_entry_t *entry;

   329

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

   330

                    EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n",

   331

                            entry->index, entry->subindex);

   332

                }

   333

            }

   334

   335

            return;

   336

        }

   337

    }

   338

   339

    EC_CONFIG_DBG(sc, 1, "No default mapping found.\n");

   340

}

   341

   342

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

   343

   344

/** Get the number of SDO configurations.

   345

 *

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 * \return Number of SDO configurations.

   347

 */

   348

unsigned int ec_slave_config_sdo_count(

   349

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

   350

        )

   351

{

   352

    const ec_sdo_request_t *req;

   353

    unsigned int count = 0;

   354

   355

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

   356

        count++;

   357

    }

   358

   359

    return count;

   360

}

   361

   362

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

   363

   364

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

   365

 *

   366

 * Const version.

   367

 */

   368

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   369

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

   370

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

   371

        )

   372

{

   373

    const ec_sdo_request_t *req;

   374

   375

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

   376

        if (pos--)

   377

            continue;

   378

        return req;

   379

    }

   380

   381

    return NULL;

   382

}

   383

   384

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

   385

   386

/** Get the number of IDN configurations.

   387

 *

   388

 * \return Number of SDO configurations.

   389

 */

   390

unsigned int ec_slave_config_idn_count(

   391

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

   392

        )

   393

{

   394

    const ec_soe_request_t *req;

   395

    unsigned int count = 0;

   396

   397

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

   398

        count++;

   399

    }

   400

   401

    return count;

   402

}

   403

   404

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

   405

   406

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

   407

 *

   408

 * Const version.

   409

 */

   410

const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(

   411

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

   412

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

   413

        )

   414

{

   415

    const ec_soe_request_t *req;

   416

   417

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

   418

        if (pos--)

   419

            continue;

   420

        return req;

   421

    }

   422

   423

    return NULL;

   424

}

   425

   426

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

   427

   428

/** Finds a VoE handler via its position in the list.

   429

 */

   430

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   431

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

   432

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

   433

        )

   434

{

   435

    ec_sdo_request_t *req;

   436

   437

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

   438

        if (pos--)

   439

            continue;

   440

        return req;

   441

    }

   442

   443

    return NULL;

   444

}

   445

   446

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

   447

   448

/** Finds a VoE handler via its position in the list.

   449

 */

   450

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   451

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

   452

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

   453

        )

   454

{

   455

    ec_voe_handler_t *voe;

   456

   457

    list_for_each_entry(voe, &sc->voe_handlers, list) {

   458

        if (pos--)

   459

            continue;

   460

        return voe;

   461

    }

   462

   463

    return NULL;

   464

}

   465

   466

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

   467

 *  Application interface

   468

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

   469

   470

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   471

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   472

{

   473

    ec_sync_config_t *sync_config;

   474

   475

    EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p,"

   476

            " sync_index = %u, dir = %i, watchdog_mode = %i)\n",

   477

            sc, sync_index, dir, watchdog_mode);

   478

   479

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   480

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

   481

        return -ENOENT;

   482

    }

   483

   484

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

   485

        EC_CONFIG_ERR(sc, "Invalid direction %u!\n", (unsigned int) dir);

   486

        return -EINVAL;

   487

    }

   488

   489

    sync_config = &sc->sync_configs[sync_index];

   490

    sync_config->dir = dir;

   491

    sync_config->watchdog_mode = watchdog_mode;

   492

    return 0;

   493

}

   494

   495