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

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 *

     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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 *

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 *  ---

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 *

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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

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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

/** 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.

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 */

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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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{

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    unsigned int i;

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    sc->master = master;

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    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->allow_overlapping_pdos = 0; // default not allowed

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    sc->slave = NULL;

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    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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    79

    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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    92

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

    93

    94

/** Slave configuration destructor.

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 *

    96

 * Clears and frees a slave configuration object.

    97

 */

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void ec_slave_config_clear(

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

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        )

   101

{

   102

    unsigned int i;

   103

    ec_sdo_request_t *req, *next_req;

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    ec_voe_handler_t *voe, *next_voe;

   105

    ec_soe_request_t *soe, *next_soe;

   106

   107

    ec_slave_config_detach(sc);

   108

   109

    // Free sync managers

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    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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   113

    // free all SDO configurations

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    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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   144

/** 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, *prev_fmmu;

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    uint32_t fmmu_logical_start_address;

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    size_t tx_size, old_prev_tx_size;

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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->domain_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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    }

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

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    ec_mutex_lock(&sc->master->master_mutex);

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    ec_fmmu_config_init(fmmu, sc, sync_index, dir);

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    fmmu_logical_start_address = domain->tx_size;

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    tx_size = fmmu->data_size;

   186

   187

    // FIXME is it enough to take only the *previous* FMMU into account?

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   189

    if (sc->allow_overlapping_pdos && sc->used_fmmus > 0) {

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        prev_fmmu = &sc->fmmu_configs[sc->used_fmmus - 1];

   191

        if (fmmu->dir != prev_fmmu->dir && prev_fmmu->tx_size != 0) {

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            // prev fmmu has opposite direction

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            // and is not already paired with prev-prev fmmu

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            old_prev_tx_size = prev_fmmu->tx_size;

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            prev_fmmu->tx_size = max(fmmu->data_size, prev_fmmu->data_size);

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            domain->tx_size += prev_fmmu->tx_size - old_prev_tx_size;

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            tx_size = 0;

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            fmmu_logical_start_address = prev_fmmu->logical_start_address;

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        }

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    }

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    ec_fmmu_config_domain(fmmu, domain, fmmu_logical_start_address, tx_size);

   203

    ec_mutex_unlock(&sc->master->master_mutex);

   204

   205

    sc->used_fmmus++;

   206

    return fmmu->domain_address;

   207

}

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   209

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

   210

   211

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

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 *

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 * \retval  0 Success.

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 * \retval <0 Error code.

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 */

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int ec_slave_config_attach(

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

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        )

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{

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    ec_slave_t *slave;

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   222

    if (sc->slave)

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        return 0; // already attached

   224

   225

    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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    }

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   231

    if (slave->config) {

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

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

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        return -EEXIST;

   235

    }

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   237

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

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            || slave->sii.product_code != sc->product_code) {

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        EC_CONFIG_DBG(sc, 1, "Slave %u has an invalid type (0x%08X/0x%08X)"

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

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                slave->ring_position, slave->sii.vendor_id,

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

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        return -EINVAL;

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    }

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    // attach slave

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    slave->config = sc;

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    sc->slave = slave;

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   250

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

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   252

    return 0;

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}

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

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   257

/** Detaches the configuration from a slave object.

   258

 */

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void ec_slave_config_detach(

   260

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

   261

        )

   262

{

   263

    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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   269

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

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/** 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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{

   275

    uint8_t sync_index;

   276

    ec_sync_config_t *sync_config;

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    const ec_sync_t *sync;

   278

   279

    if (!sc->slave)

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        return;

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   282

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

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        sync_config = &sc->sync_configs[sync_index];

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

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            sync_config->dir = ec_sync_default_direction(sync);

   286

            if (sync_config->dir == EC_DIR_INVALID)

   287

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

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   296

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

   297

 */

   298

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

   301

        )

   302

{

   303

    unsigned int i;

   304

    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

   306

   307

    if (!sc->slave)

   308

        return;

   309

   310

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

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            pdo->index);

   312

   313

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

   314

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

   315

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

   316

   317

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

   318

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

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                continue;

   320

   321

            if (default_pdo->name) {

   322

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

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                        default_pdo->name);

   324

   325

                // take PDO name from assigned one

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                ec_pdo_set_name(pdo, default_pdo->name);

   327

            }

   328

   329

            // copy entries (= default PDO mapping)

   330

            if (ec_pdo_copy_entries(pdo, default_pdo))

   331

                return;

   332

   333

            if (sc->master->debug_level) {

   334

                const ec_pdo_entry_t *entry;

   335

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

   336

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

   337

                            entry->index, entry->subindex);

   338

                }

   339

            }

   340

   341

            return;

   342

        }

   343

    }

   344

   345

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

   346

}

   347

   348

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

   349

   350

/** Get the number of SDO configurations.

   351

 *

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 * \return Number of SDO configurations.

   353

 */

   354

unsigned int ec_slave_config_sdo_count(

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

   356

        )

   357

{

   358

    const ec_sdo_request_t *req;

   359

    unsigned int count = 0;

   360

   361

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

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        count++;

   363

    }

   364

   365

    return count;

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}

   367

   368

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

   369

   370

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

   371

 *

   372

 * Const version.

   373

 */

   374

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   375

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

   376

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

   377

        )

   378

{

   379

    const ec_sdo_request_t *req;

   380

   381

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

   382

        if (pos--)

   383

            continue;

   384

        return req;

   385

    }

   386

   387

    return NULL;

   388

}

   389

   390

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

   391

   392

/** Get the number of IDN configurations.

   393

 *

   394

 * \return Number of SDO configurations.

   395

 */

   396

unsigned int ec_slave_config_idn_count(

   397

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

   398

        )

   399

{

   400

    const ec_soe_request_t *req;

   401

    unsigned int count = 0;

   402

   403

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

   404

        count++;

   405

    }

   406

   407

    return count;

   408

}

   409

   410

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

   411

   412

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

   413

 *

   414

 * Const version.

   415

 */

   416

const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(

   417

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

   418

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

   419

        )

   420

{

   421

    const ec_soe_request_t *req;

   422

   423

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

   424

        if (pos--)

   425

            continue;

   426

        return req;

   427

    }

   428

   429

    return NULL;

   430

}

   431

   432

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

   433

   434

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

   435

 */

   436

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   437

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

   438

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

   439

        )

   440

{

   441

    ec_sdo_request_t *req;

   442

   443

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

   444

        if (pos--)

   445

            continue;

   446

        return req;

   447

    }

   448

   449

    return NULL;

   450

}

   451

   452

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

   453

   454

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

   455

 */

   456

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   457

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

   458

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

   459

        )

   460

{

   461

    ec_voe_handler_t *voe;

   462

   463

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

   464

        if (pos--)

   465

            continue;

   466

        return voe;

   467

    }

   468

   469

    return NULL;

   470

}

   471

   472

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

   473

 *  Application interface

   474

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

   475

   476

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   477

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   478

{

   479

    ec_sync_config_t *sync_config;

   480

   481

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

   482

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

   483

            sc, sync_index, dir, watchdog_mode);

   484

   485

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   486

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

   487

        return -ENOENT;

   488

    }

   489

   490

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

   491

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

   492

        return -EINVAL;

   493

    }

   494