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

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 *

     3

 *  $Id$

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 *

     5

 *  Copyright (C) 2006  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

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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

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 *

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 *  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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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 *  along 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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 *

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

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 *  charge under condition of compatibility of product made by

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

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 *  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

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 *  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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 *

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

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/**

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   \file

    36

   EtherCAT slave methods.

    37

*/

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    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/delay.h>

    43

    44

#include "globals.h"

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#include "slave.h"

    46

#include "datagram.h"

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#include "master.h"

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    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 *);

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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);

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EC_SYSFS_READ_WRITE_ATTR(state);

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EC_SYSFS_READ_WRITE_ATTR(eeprom);

    68

    69

static struct attribute *def_attrs[] = {

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    &attr_info,

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    &attr_state,

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    &attr_eeprom,

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    NULL,

    74

};

    75

    76

static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_attribute,

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    .store = ec_store_slave_attribute

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};

    80

    81

static struct kobj_type ktype_ec_slave = {

    82

    .release = ec_slave_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

    85

};

    86

    87

static struct kobj_type ktype_ec_slave_sdos = {

    88

    .release = ec_slave_sdos_clear

    89

};

    90

    91

/** \endcond */

    92

    93

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

    94

    95

/**

    96

   Slave constructor.

    97

   \return 0 in case of success, else < 0

    98

*/

    99

   100

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

   101

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

   102

                  uint16_t ring_position, /**< ring position */

   103

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

   104

                  )

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{

   106

    unsigned int i;

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   108

    slave->ring_position = ring_position;

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    slave->station_address = station_address;

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   111

    // init kobject and add it to the hierarchy

   112

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

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    kobject_init(&slave->kobj);

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    slave->kobj.ktype = &ktype_ec_slave;

   115

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

   116

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

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

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        kobject_put(&slave->kobj);

   119

        return -1;

   120

    }

   121

   122

    // init SDO kobject and add it to the hierarchy

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

   124

    kobject_init(&slave->sdo_kobj);

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    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

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

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

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

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        kobject_put(&slave->sdo_kobj);

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        kobject_put(&slave->kobj);

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        return -1;

   132

    }

   133

   134

    slave->master = master;

   135

   136

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->configured = 0;

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    slave->error_flag = 0;

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    slave->online = 1;

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    slave->fmmu_count = 0;

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    slave->coupler_index = 0;

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    slave->coupler_subindex = 0xFFFF;

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   146

    slave->base_type = 0;

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    slave->base_revision = 0;

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    slave->base_build = 0;

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    slave->base_fmmu_count = 0;

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    slave->base_sync_count = 0;

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   152

    slave->eeprom_data = NULL;

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    slave->eeprom_size = 0;

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    slave->new_eeprom_data = NULL;

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    slave->new_eeprom_size = 0;

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   157

    slave->sii_alias = 0;

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    slave->sii_vendor_id = 0;

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    slave->sii_product_code = 0;

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    slave->sii_revision_number = 0;

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    slave->sii_serial_number = 0;

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    slave->sii_rx_mailbox_offset = 0;

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    slave->sii_rx_mailbox_size = 0;

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    slave->sii_tx_mailbox_offset = 0;

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    slave->sii_tx_mailbox_size = 0;

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    slave->sii_mailbox_protocols = 0;

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    slave->sii_group = NULL;

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    slave->sii_image = NULL;

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    slave->sii_order = NULL;

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    slave->sii_name = NULL;

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    INIT_LIST_HEAD(&slave->sii_strings);

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    INIT_LIST_HEAD(&slave->sii_syncs);

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    INIT_LIST_HEAD(&slave->sii_pdos);

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    INIT_LIST_HEAD(&slave->sdo_dictionary);

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    INIT_LIST_HEAD(&slave->sdo_confs);

   177

   178

    slave->sdo_dictionary_fetched = 0;

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    slave->jiffies_preop = 0;

   180

   181

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

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        slave->dl_link[i] = 0;

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        slave->dl_loop[i] = 0;

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        slave->dl_signal[i] = 0;

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        slave->sii_physical_layer[i] = 0xFF;

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    }

   187

   188

    return 0;

   189

}

   190

   191

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

   192

   193

/**

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   Slave destructor.

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   Clears and frees a slave object.

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*/

   197

   198

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

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{

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    ec_sdo_t *sdo, *next_sdo;

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    // free all SDOs

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

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        list_del(&sdo->list);

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        ec_sdo_destroy(sdo);

   206

    }

   207

   208

    // free SDO kobject

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    if (slave->sdo_dictionary_fetched) kobject_del(&slave->sdo_kobj);

   210

    kobject_put(&slave->sdo_kobj);

   211

   212

    // destroy self

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    kobject_del(&slave->kobj);

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    kobject_put(&slave->kobj);

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}

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   217

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

   218

   219

/**

   220

   Clear and free slave.

   221

   This method is called by the kobject,

   222

   once there are no more references to it.

   223

*/

   224

   225

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

   226

{

   227

    ec_slave_t *slave;

   228

    ec_sii_string_t *string, *next_str;

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    ec_sii_sync_t *sync, *next_sync;

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    ec_sii_pdo_t *pdo, *next_pdo;

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    ec_sii_pdo_entry_t *entry, *next_ent;

   232

    ec_sdo_data_t *sdodata, *next_sdodata;

   233

   234

    slave = container_of(kobj, ec_slave_t, kobj);

   235

   236

    // free all string objects

   237

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

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        list_del(&string->list);

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        kfree(string);

   240

    }

   241

   242

    // free all sync managers

   243

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

   244

        list_del(&sync->list);

   245

        kfree(sync);

   246

    }

   247

   248

    // free all PDOs

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

   250

        list_del(&pdo->list);

   251

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

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        // free all PDO entries

   254

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

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            list_del(&entry->list);

   256

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

   257

            kfree(entry);

   258

        }

   259

   260

        kfree(pdo);

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    }

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   263

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

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

   265

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

   266

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

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   268

    // free all SDO configurations

   269

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

   270

        list_del(&sdodata->list);

   271

        kfree(sdodata->data);

   272

        kfree(sdodata);

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    }

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

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

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   278

    kfree(slave);

   279

}

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   281

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

   282

   283

/**

   284

*/

   285

   286

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

   287

{

   288

}

   289

   290

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

   291

   292

/**

   293

   Reset slave from operation mode.

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*/

   295

   296

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

   297

{

   298

    ec_sdo_data_t *sdodata, *next_sdodata;

   299

    ec_sii_sync_t *sync;

   300

   301

    // remove FMMU configurations

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    slave->fmmu_count = 0;

   303

   304

    // free all SDO configurations

   305

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

   306

        list_del(&sdodata->list);

   307

        kfree(sdodata->data);

   308

        kfree(sdodata);

   309

    }

   310

   311

    // remove estimated sync manager sizes

   312

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

   313

        sync->est_length = 0;

   314

    }

   315

}

   316

   317

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

   318

   319

/**

   320

 */

   321

   322

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

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                            ec_slave_state_t state /**< new state */

   324

                            )

   325

{

   326

    slave->requested_state = state;

   327

    slave->error_flag = 0;

   328

}

   329

   330

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

   331

   332

/**

   333

   Fetches data from a STRING category.

   334

   \return 0 in case of success, else < 0

   335

*/

   336

   337

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

   338

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

   339

                           )

   340

{

   341

    unsigned int string_count, i;

   342

    size_t size;

   343

    off_t offset;

   344

    ec_sii_string_t *string;

   345

   346

    string_count = data[0];

   347

    offset = 1;

   348

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

   349

        size = data[offset];

   350

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

   351

        if (!(string = (ec_sii_string_t *)

   352

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

   353

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

   354

            return -1;

   355

        }

   356

        string->size = size;

   357

        // string memory appended to string structure

   358

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

   359

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

   360

        string->data[size] = 0x00;

   361

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

   362

        offset += 1 + size;

   363

    }

   364

   365

    return 0;

   366

}

   367

   368

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

   369

   370

/**

   371

   Fetches data from a GENERAL category.

   372

   \return 0 in case of success, else < 0

   373

*/

   374

   375

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

   376

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

   377

                            )

   378

{

   379

    unsigned int i;

   380

   381

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

   382

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

   383

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

   384

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

   385

   386

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

   387

        slave->sii_physical_layer[i] =

   388

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

   389

}

   390

   391

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

   392

   393

/**

   394

   Fetches data from a SYNC MANAGER category.

   395

   \return 0 in case of success, else < 0

   396

*/

   397

   398

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

   399

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

   400

                        size_t word_count /**< number of words */

   401

                        )

   402

{

   403

    unsigned int sync_count, i;

   404

    ec_sii_sync_t *sync;

   405

   406

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

   407

   408

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

   409

        if (!(sync = (ec_sii_sync_t *)

   410

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

   411

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

   412

            return -1;

   413

        }

   414

   415

        sync->index = i;

   416

        sync->physical_start_address = EC_READ_U16(data);

   417

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

   418

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

   419

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

   420

   421

        sync->est_length = 0;

   422

   423

        list_add_tail(&sync->list, &slave->sii_syncs);

   424

    }

   425

   426

    return 0;

   427

}

   428

   429

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

   430

   431

/**

   432

   Fetches data from a [RT]XPDO category.

   433

   \return 0 in case of success, else < 0

   434

*/

   435

   436

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

   437

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

   438

                       size_t word_count, /**< number of words */

   439

                       ec_sii_pdo_type_t pdo_type /**< PDO type */

   440

                       )

   441

{

   442

    ec_sii_pdo_t *pdo;

   443

    ec_sii_pdo_entry_t *entry;

   444

    unsigned int entry_count, i;

   445

   446

    while (word_count >= 4) {

   447

        if (!(pdo = (ec_sii_pdo_t *)

   448

              kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {

   449

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

   450

            return -1;

   451

        }

   452

   453

        INIT_LIST_HEAD(&pdo->entries);

   454

        pdo->type = pdo_type;

   455

   456

        pdo->index = EC_READ_U16(data);

   457

        entry_count = EC_READ_U8(data + 2);

   458

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

   459

        pdo->name = NULL;

   460

        ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);

   461

   462

        list_add_tail(&pdo->list, &slave->sii_pdos);

   463

   464

        word_count -= 4;

   465

        data += 8;

   466

   467

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

   468

            if (!(entry = (ec_sii_pdo_entry_t *)

   469

                  kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {

   470

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

   471

                return -1;

   472

            }

   473

   474

            entry->index = EC_READ_U16(data);

   475

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

   476

            entry->name = NULL;

   477

            ec_slave_locate_string(slave, EC_READ_U8(data + 3), &entry->name);

   478

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

   479

   480

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

   481

   482

            word_count -= 4;

   483

            data += 8;

   484

        }

   485

    }

   486

   487

    return 0;