1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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 and/or

    10

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

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 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

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

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

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

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/delay.h>

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

    45

#include "slave.h"

    46

    47

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

    48

    49

extern const ec_code_msg_t al_status_messages[];

    50

    51

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

    52

    53

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    54

    55

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

    56

    57

/**

    58

   Slave constructor.

    59

   \return 0 in case of success, else < 0

    60

*/

    61

    62

void ec_slave_init(

    63

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

    64

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

    65

        ec_device_index_t dev_idx, /**< Device index. */

    66

        uint16_t ring_position, /**< ring position */

    67

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

    68

        )

    69

{

    70

    unsigned int i;

    71

    int ret;

    72

    73

    slave->master = master;

    74

    slave->device_index = dev_idx;

    75

    slave->ring_position = ring_position;

    76

    slave->station_address = station_address;

    77

    slave->effective_alias = 0x0000;

    78

    79

    slave->config = NULL;

    80

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    81

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    82

    slave->error_flag = 0;

    83

    slave->force_config = 0;

    84

    slave->configured_rx_mailbox_offset = 0x0000;

    85

    slave->configured_rx_mailbox_size = 0x0000;

    86

    slave->configured_tx_mailbox_offset = 0x0000;

    87

    slave->configured_tx_mailbox_size = 0x0000;

    88

    89

    slave->base_type = 0;

    90

    slave->base_revision = 0;

    91

    slave->base_build = 0;

    92

    slave->base_fmmu_count = 0;

    93

    slave->base_sync_count = 0;

    94

    95

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

    96

        slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;

    97

    98

        slave->ports[i].link.link_up = 0;

    99

        slave->ports[i].link.loop_closed = 0;

   100

        slave->ports[i].link.signal_detected = 0;

   101

        slave->sii.physical_layer[i] = 0xFF;

   102

   103

        slave->ports[i].receive_time = 0U;

   104

   105

        slave->ports[i].next_slave = NULL;

   106

        slave->ports[i].delay_to_next_dc = 0U;

   107

    }

   108

   109

    slave->base_fmmu_bit_operation = 0;

   110

    slave->base_dc_supported = 0;

   111

    slave->base_dc_range = EC_DC_32;

   112

    slave->has_dc_system_time = 0;

   113

    slave->transmission_delay = 0U;

   114

   115

    slave->sii_words = NULL;

   116

    slave->sii_nwords = 0;

   117

   118

    slave->sii.alias = 0x0000;

   119

    slave->sii.vendor_id = 0x00000000;

   120

    slave->sii.product_code = 0x00000000;

   121

    slave->sii.revision_number = 0x00000000;

   122

    slave->sii.serial_number = 0x00000000;

   123

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   124

    slave->sii.boot_rx_mailbox_size = 0x0000;

   125

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   126

    slave->sii.boot_tx_mailbox_size = 0x0000;

   127

    slave->sii.std_rx_mailbox_offset = 0x0000;

   128

    slave->sii.std_rx_mailbox_size = 0x0000;

   129

    slave->sii.std_tx_mailbox_offset = 0x0000;

   130

    slave->sii.std_tx_mailbox_size = 0x0000;

   131

    slave->sii.mailbox_protocols = 0;

   132

   133

    slave->sii.strings = NULL;

   134

    slave->sii.string_count = 0;

   135

   136

    slave->sii.has_general = 0;

   137

    slave->sii.group = NULL;

   138

    slave->sii.image = NULL;

   139

    slave->sii.order = NULL;

   140

    slave->sii.name = NULL;

   141

    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));

   142

    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));

   143

    slave->sii.current_on_ebus = 0;

   144

   145

    slave->sii.syncs = NULL;

   146

    slave->sii.sync_count = 0;

   147

   148

    INIT_LIST_HEAD(&slave->sii.pdos);

   149

   150

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   151

   152

    slave->sdo_dictionary_fetched = 0;

   153

    slave->jiffies_preop = 0;

   154

   155

    INIT_LIST_HEAD(&slave->sdo_requests);

   156

    INIT_LIST_HEAD(&slave->reg_requests);

   157

    INIT_LIST_HEAD(&slave->foe_requests);

   158

    INIT_LIST_HEAD(&slave->soe_requests);

   159

   160

    // init state machine datagram

   161

    ec_datagram_init(&slave->fsm_datagram);

   162

    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE,

   163

            "slave%u-fsm", slave->ring_position);

   164

    ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);

   165

    if (ret < 0) {

   166

        ec_datagram_clear(&slave->fsm_datagram);

   167

        EC_SLAVE_ERR(slave, "Failed to allocate FSM datagram.\n");

   168

        return;

   169

    }

   170

   171

    // create state machine object

   172

    ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);

   173

}

   174

   175

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

   176

   177

/**

   178

   Slave destructor.

   179

   Clears and frees a slave object.

   180

*/

   181

   182

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

   183

{

   184

    ec_sdo_t *sdo, *next_sdo;

   185

    unsigned int i;

   186

    ec_pdo_t *pdo, *next_pdo;

   187

   188

    // abort all pending requests

   189

   190

    while (!list_empty(&slave->sdo_requests)) {

   191

        ec_sdo_request_t *request =

   192

            list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);

   193

        list_del_init(&request->list); // dequeue

   194

        EC_SLAVE_WARN(slave, "Discarding SDO request,"

   195

                " slave about to be deleted.\n");

   196

        request->state = EC_INT_REQUEST_FAILURE;

   197

        wake_up(&slave->master->request_queue);

   198

    }

   199

   200

    while (!list_empty(&slave->reg_requests)) {

   201

        ec_reg_request_t *reg =

   202

            list_entry(slave->reg_requests.next, ec_reg_request_t, list);

   203

        list_del_init(&reg->list); // dequeue

   204

        EC_SLAVE_WARN(slave, "Discarding register request,"

   205

                " slave about to be deleted.\n");

   206

        reg->state = EC_INT_REQUEST_FAILURE;

   207

        wake_up(&slave->master->request_queue);

   208

    }

   209

   210

    while (!list_empty(&slave->foe_requests)) {

   211

        ec_foe_request_t *request =

   212

            list_entry(slave->foe_requests.next, ec_foe_request_t, list);

   213

        list_del_init(&request->list); // dequeue

   214

        EC_SLAVE_WARN(slave, "Discarding FoE request,"

   215

                " slave about to be deleted.\n");

   216

        request->state = EC_INT_REQUEST_FAILURE;

   217

        wake_up(&slave->master->request_queue);

   218

    }

   219

   220

    while (!list_empty(&slave->soe_requests)) {

   221

        ec_soe_request_t *request =

   222

            list_entry(slave->soe_requests.next, ec_soe_request_t, list);

   223

        list_del_init(&request->list); // dequeue

   224

        EC_SLAVE_WARN(slave, "Discarding SoE request,"

   225

                " slave about to be deleted.\n");

   226

        request->state = EC_INT_REQUEST_FAILURE;

   227

        wake_up(&slave->master->request_queue);

   228

    }

   229

   230

    if (slave->config) {

   231

        ec_slave_config_detach(slave->config);

   232

    }

   233

   234

    // free all SDOs

   235

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

   236

        list_del(&sdo->list);

   237

        ec_sdo_clear(sdo);

   238

        kfree(sdo);

   239

    }

   240

   241

    // free all strings

   242

    if (slave->sii.strings) {

   243

        for (i = 0; i < slave->sii.string_count; i++)

   244

            kfree(slave->sii.strings[i]);

   245

        kfree(slave->sii.strings);

   246

    }

   247

   248

    // free all sync managers

   249

    ec_slave_clear_sync_managers(slave);

   250

   251

    // free all SII PDOs

   252

    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {

   253

        list_del(&pdo->list);

   254

        ec_pdo_clear(pdo);

   255

        kfree(pdo);

   256

    }

   257

   258

    if (slave->sii_words) {

   259

        kfree(slave->sii_words);

   260

    }

   261

   262

    ec_fsm_slave_clear(&slave->fsm);

   263

    ec_datagram_clear(&slave->fsm_datagram);

   264

}

   265

   266

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

   267

   268

/** Clear the sync manager array.

   269

 */

   270

void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)

   271

{

   272

    unsigned int i;

   273

   274

    if (slave->sii.syncs) {

   275

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

   276

            ec_sync_clear(&slave->sii.syncs[i]);

   277

        }

   278

        kfree(slave->sii.syncs);

   279

        slave->sii.syncs = NULL;

   280

    }

   281

}

   282

   283

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

   284

   285

/**

   286

 * Sets the application state of a slave.

   287

 */

   288

   289

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

   290

        ec_slave_state_t new_state /**< new application state */

   291

        )

   292

{

   293

    if (new_state != slave->current_state) {

   294

        if (slave->master->debug_level) {

   295

            char old_state[EC_STATE_STRING_SIZE],

   296

                cur_state[EC_STATE_STRING_SIZE];

   297

            ec_state_string(slave->current_state, old_state, 0);

   298

            ec_state_string(new_state, cur_state, 0);

   299

            EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);

   300

        }

   301

        slave->current_state = new_state;

   302

    }

   303

}

   304

   305

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

   306

   307

/**

   308

 * Request a slave state and resets the error flag.

   309

 */

   310

   311

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

   312

                            ec_slave_state_t state /**< new state */

   313

                            )

   314

{

   315

    slave->requested_state = state;

   316

    slave->error_flag = 0;

   317

}

   318

   319

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

   320

   321

/**

   322

   Fetches data from a STRING category.

   323

   \todo range checking

   324

   \return 0 in case of success, else < 0

   325

*/

   326

   327

int ec_slave_fetch_sii_strings(

   328

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

   329

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

   330

        size_t data_size /**< number of bytes */

   331

        )

   332

{

   333

    int i, err;

   334

    size_t size;

   335

    off_t offset;

   336

   337

    slave->sii.string_count = data[0];

   338

   339

    if (slave->sii.string_count) {

   340

        if (!(slave->sii.strings =

   341

                    kmalloc(sizeof(char *) * slave->sii.string_count,

   342

                        GFP_KERNEL))) {

   343

            EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");

   344

            err = -ENOMEM;

   345

            goto out_zero;

   346

        }

   347

   348

        offset = 1;

   349

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

   350

            size = data[offset];

   351

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

   352

            if (!(slave->sii.strings[i] =

   353

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

   354

                EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");

   355

                err = -ENOMEM;

   356

                goto out_free;

   357

            }

   358

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

   359

            slave->sii.strings[i][size] = 0x00; // append binary zero

   360

            offset += 1 + size;

   361

        }

   362

    }

   363

   364

    return 0;

   365

   366

out_free:

   367

    for (i--; i >= 0; i--)

   368

        kfree(slave->sii.strings[i]);

   369

    kfree(slave->sii.strings);

   370

    slave->sii.strings = NULL;

   371

out_zero:

   372

    slave->sii.string_count = 0;

   373

    return err;

   374

}

   375

   376

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

   377

   378

/**

   379

   Fetches data from a GENERAL category.

   380

   \return 0 in case of success, else < 0

   381

*/

   382

   383

int ec_slave_fetch_sii_general(

   384

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

   385

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

   386

        size_t data_size /**< size in bytes */

   387

        )

   388

{

   389

    unsigned int i;

   390

    uint8_t flags;

   391

   392

    if (data_size != 32) {

   393

        EC_SLAVE_ERR(slave, "Wrong size of general category (%zu/32).\n",

   394

                data_size);

   395

        return -EINVAL;

   396

    }

   397

   398

    slave->sii.group = ec_slave_sii_string(slave, data[0]);

   399

    slave->sii.image = ec_slave_sii_string(slave, data[1]);

   400

    slave->sii.order = ec_slave_sii_string(slave, data[2]);

   401

    slave->sii.name = ec_slave_sii_string(slave, data[3]);

   402

   403

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

   404

        slave->sii.physical_layer[i] =

   405

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

   406

   407

    // read CoE details

   408

    flags = EC_READ_U8(data + 5);

   409

    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;

   410

    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;

   411

    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;

   412

    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;

   413

    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;

   414

    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;

   415

   416

    // read general flags

   417

    flags = EC_READ_U8(data + 0x000B);

   418

    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;

   419

    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;

   420

   421

    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);

   422

    slave->sii.has_general = 1;

   423

    return 0;

   424

}

   425

   426

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

   427

   428

/** Fetches data from a SYNC MANAGER category.

   429

 *

   430

 * Appends the sync managers described in the category to the existing ones.

   431

 *

   432

 * \return 0 in case of success, else < 0

   433

 */

   434

int ec_slave_fetch_sii_syncs(

   435

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

   436

        const uint8_t *data, /**< Category data. */

   437

        size_t data_size /**< Number of bytes. */

   438

        )

   439

{

   440

    unsigned int i, count, total_count;

   441

    ec_sync_t *sync;

   442

    size_t memsize;

   443

    ec_sync_t *syncs;

   444

    uint8_t index;

   445

   446

    // one sync manager struct is 4 words long

   447

    if (data_size % 8) {

   448

        EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",

   449

                data_size);

   450

        return -EINVAL;

   451

    }

   452

   453

    count = data_size / 8;

   454

   455

    if (count) {

   456

        total_count = count + slave->sii.sync_count;

   457

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   458

            EC_SLAVE_ERR(slave, "Exceeded maximum number of"

   459

                    " sync managers!\n");

   460

            return -EOVERFLOW;

   461

        }

   462

        memsize = sizeof(ec_sync_t) * total_count;

   463

        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {

   464

            EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"

   465

                    " for sync managers.\n", memsize);

   466

            return -ENOMEM;

   467

        }

   468

   469

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

   470

            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);

   471

   472

        // initialize new sync managers

   473

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

   474

            index = i + slave->sii.sync_count;

   475

            sync = &syncs[index];

   476

   477

            ec_sync_init(sync, slave);

   478

            sync->physical_start_address = EC_READ_U16(data);

   479

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

   480

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

   481

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

   482

        }

   483