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

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 *

     3

 *  $Id$

     4

 *

     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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 *

     9

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

    10

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

    11

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

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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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 *

    19

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

    20

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

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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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 *

    32

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

    33

    34

/**

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   \file

    36

   EtherCAT slave configuration methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/slab.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

/** Slave configuration constructor.

    51

 *

    52

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

    53

 * position parameters.

    54

 */

    55

void ec_slave_config_init(

    56

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

    57

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

    58

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

    59

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

    60

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

    61

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

    62

        )

    63

{

    64

    unsigned int i;

    65

    66

    sc->master = master;

    67

    sc->alias = alias;

    68

    sc->position = position;

    69

    sc->vendor_id = vendor_id;

    70

    sc->product_code = product_code;

    71

    sc->slave = NULL;

    72

    73

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

    74

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

    75

    76

    INIT_LIST_HEAD(&sc->sdo_configs);

    77

    INIT_LIST_HEAD(&sc->sdo_requests);

    78

    79

    sc->used_fmmus = 0;

    80

}

    81

    82

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

    83

    84

/** Slave configuration destructor.

    85

 *

    86

 * Clears and frees a slave configuration object.

    87

 */

    88

void ec_slave_config_clear(

    89

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

    90

        )

    91

{

    92

    unsigned int i;

    93

    ec_sdo_request_t *req, *next_req;

    94

    95

    ec_slave_config_detach(sc);

    96

    97

    // Free sync managers

    98

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

    99

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

   100

   101

    // free all Sdo configurations

   102

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

   103

        list_del(&req->list);

   104

        ec_sdo_request_clear(req);

   105

        kfree(req);

   106

    }

   107

   108

    // free all Sdo requests

   109

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

   110

        list_del(&req->list);

   111

        ec_sdo_request_clear(req);

   112

        kfree(req);

   113

    }

   114

}

   115

   116

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

   117

   118

/** Prepares an FMMU configuration.

   119

 *

   120

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

   121

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

   122

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

   123

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

   124

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

   125

 * returns with success.

   126

 *

   127

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

   128

 * \retval -1  Error, FMMU limit reached.

   129

 */

   130

int ec_slave_config_prepare_fmmu(

   131

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

   132

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

   133

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

   134

        ec_direction_t dir /**< Pdo direction. */

   135

        )

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{

   137

    unsigned int i;

   138

    ec_fmmu_config_t *fmmu;

   139

   140

    // 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];

   143

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

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            return fmmu->logical_start_address;

   145

    }

   146

   147

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   148

        EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",

   149

                sc->alias, sc->position);

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        return -1;

   151

    }

   152

   153

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

   154

   155

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

   156

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

   157

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

   158

   159

    return fmmu->logical_start_address;

   160

}

   161

   162

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

   163

   164

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

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 *

   166

 * \retval 0 Success.

   167

 * \retval -1 Slave not found.

   168

 * \retval -2 Slave already configured.

   169

 * \retval -3 Invalid slave type found at the given position.

   170

 */

   171

int ec_slave_config_attach(

   172

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

   173

        )

   174

{

   175

	ec_slave_t *slave;

   176

   177

	if (sc->slave)

   178

		return 0; // already attached

   179

   180

    if (!(slave = ec_master_find_slave(

   181

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

   182

        if (sc->master->debug_level)

   183

            EC_DBG("Failed to find slave for configuration %u:%u.\n",

   184

                    sc->alias, sc->position);

   185

        return -1;

   186

    }

   187

   188

	if (slave->config) {

   189

        if (sc->master->debug_level)

   190

            EC_DBG("Failed to attach slave configuration %u:%u. Slave %u"

   191

                    " already has a configuration!\n", sc->alias,

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                    sc->position, slave->ring_position);

   193

        return -2;

   194

    }

   195

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

   196

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

   197

        if (sc->master->debug_level)

   198

            EC_DBG("Slave %u has an invalid type (0x%08X/0x%08X) for"

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                    " configuration %u:%u (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->alias, sc->position,

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                    sc->vendor_id, sc->product_code);

   203

        return -3;

   204

	}

   205

   206

	// attach slave

   207

	slave->config = sc;

   208

	sc->slave = slave;

   209

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   210

   211

    if (sc->master->debug_level)

   212

        EC_DBG("Attached slave %u to config %u:%u.\n",

   213

                slave->ring_position, sc->alias, sc->position);

   214

   215

	return 0;

   216

}

   217

   218

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

   219

   220

/** Detaches the configuration from a slave object.

   221

 */

   222

void ec_slave_config_detach(

   223

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

   224

        )

   225

{

   226

    if (sc->slave) {

   227

        sc->slave->config = NULL;

   228

        sc->slave = NULL;

   229

    }

   230

}

   231

   232

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

   233

   234

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

   235

 */

   236

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   237

{

   238

    uint8_t sync_index;

   239

    ec_sync_config_t *sync_config;

   240

    const ec_sync_t *sync;

   241

   242

    if (!sc->slave)

   243

        return;

   244

   245

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

   246

        sync_config = &sc->sync_configs[sync_index];

   247

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

   248

            sync_config->dir = ec_sync_default_direction(sync);

   249

            if (sync_config->dir == EC_DIR_INVALID)

   250

                EC_WARN("SM%u of slave %u has an invalid direction field!\n",

   251

                        sync_index, sc->slave->ring_position);

   252

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

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        }

   254

    }

   255

}

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   257

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

   258

   259

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

   260

 */

   261

void ec_slave_config_load_default_mapping(

   262

        const ec_slave_config_t *sc,

   263

        ec_pdo_t *pdo

   264

        )

   265

{

   266

    unsigned int i;

   267

    const ec_sync_t *sync;

   268

    const ec_pdo_t *default_pdo;

   269

   270

    if (!sc->slave)

   271

        return;

   272

   273

    if (sc->master->debug_level)

   274

        EC_DBG("Loading default mapping for Pdo 0x%04X in config %u:%u.\n",

   275

                pdo->index, sc->alias, sc->position);

   276

   277

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

   278

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

   279

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

   280

   281

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

   282

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

   283

                continue;

   284

   285

            if (default_pdo->name) {

   286

                if (sc->master->debug_level)

   287

                    EC_DBG("Found Pdo name \"%s\".\n", default_pdo->name);

   288

   289

                // take Pdo name from assigned one

   290

                ec_pdo_set_name(pdo, default_pdo->name);

   291

            }

   292

   293

            // copy entries (= default Pdo mapping)

   294

            if (ec_pdo_copy_entries(pdo, default_pdo))

   295

                return;

   296

   297

            if (sc->master->debug_level) {

   298

                const ec_pdo_entry_t *entry;

   299

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

   300

                    EC_DBG("Entry 0x%04X:%02X.\n",

   301

                            entry->index, entry->subindex);

   302

                }

   303

            }

   304

   305

            return;

   306

        }

   307

    }

   308

   309

    if (sc->master->debug_level)

   310

        EC_DBG("No default mapping found.\n");

   311

}

   312

   313

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

   314

   315

unsigned int ec_slave_config_sdo_count(

   316

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

   317

        )

   318

{

   319

	const ec_sdo_request_t *req;

   320

	unsigned int count = 0;

   321

   322

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

   323

		count++;

   324

	}

   325

   326

	return count;

   327

}

   328

   329

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

   330

   331

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

   332

 *

   333

 * Const version.

   334

 */

   335

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   336

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

   337

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

   338

        )

   339

{

   340

    const ec_sdo_request_t *req;

   341

   342

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

   343

        if (pos--)

   344

            continue;

   345

        return req;

   346

    }

   347

   348

    return NULL;

   349

}

   350

   351

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

   352

 *  Realtime interface

   353

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

   354

   355

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   356

        ec_direction_t dir)

   357

{

   358

    ec_sync_config_t *sync_config;

   359

   360

    if (sc->master->debug_level)

   361

        EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%x, sync_index = %u, "

   362

                "dir = %u)\n", (u32) sc, sync_index, dir);

   363

   364

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   365

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

   366

        return -1;

   367

    }

   368

   369

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

   370

        EC_ERR("Invalid direction %u!\n", (u32) dir);

   371

        return -1;

   372

    }

   373

   374

    sync_config = &sc->sync_configs[sync_index];

   375

    sync_config->dir = dir;

   376

    return 0;

   377

}

   378

   379

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

   380

   381

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   382

        uint8_t sync_index, uint16_t pdo_index)

   383

{

   384

    ec_pdo_t *pdo;

   385

   386

    if (sc->master->debug_level)

   387

        EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%x, sync_index = %u, "

   388

                "pdo_index = 0x%04X)\n", (u32) sc, sync_index, pdo_index);

   389

   390

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   391

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

   392

        return -1;

   393

    }

   394

   395

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

   396

   397

    if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos,

   398

                    pdo_index))) {

   399

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

   400

        return -1;

   401

    }

   402

    pdo->sync_index = sync_index;

   403

   404

    ec_slave_config_load_default_mapping(sc, pdo);

   405

   406

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

   407

    return 0;

   408

}

   409

   410

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

   411

   412

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   413

        uint8_t sync_index)

   414

{

   415

    if (sc->master->debug_level)

   416

        EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%x, "

   417

                "sync_index = %u)\n", (u32) sc, sync_index);

   418

   419

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   420

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

   421

        return;

   422

    }

   423

   424

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

   425

    ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);

   426

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

   427

}

   428

   429

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

   430

   431

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   432

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   433

        uint8_t entry_bit_length)

   434

{

   435

    uint8_t sync_index;

   436

    ec_pdo_t *pdo = NULL;

   437

    int retval = -1;

   438

   439

    if (sc->master->debug_level)

   440

        EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%x, "

   441

                "pdo_index = 0x%04X, entry_index = 0x%04X, "

   442

                "entry_subindex = 0x%02X, entry_bit_length = %u)\n",

   443

                (u32) sc, pdo_index, entry_index, entry_subindex,

   444

                entry_bit_length);

   445

   446

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

   447

        if ((pdo = ec_pdo_list_find_pdo(

   448

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   449

            break;

   450

   451

    if (pdo) {

   452

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

   453

        retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   454

                entry_bit_length) ? 0 : -1;

   455

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

   456

    } else {

   457

        EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",

   458

                pdo_index, sc->alias, sc->position);

   459

    }

   460

   461

    return retval;

   462

}

   463

   464

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

   465

   466

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

   467

        uint16_t pdo_index)

   468

{

   469

    uint8_t sync_index;

   470

    ec_pdo_t *pdo = NULL;

   471

   472

    if (sc->master->debug_level)

   473

        EC_DBG("ecrt_slave_config_pdo_mapping_clear(sc = 0x%x, "

   474

                "pdo_index = 0x%04X)\n", (u32) sc, pdo_index);

   475

   476

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

   477

        if ((pdo = ec_pdo_list_find_pdo(

   478

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   479

            break;

   480

   481

    if (pdo) {

   482

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

   483

        ec_pdo_clear_entries(pdo);

   484

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

   485

    } else {

   486

        EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",

   487

                pdo_index, sc->alias, sc->position);

   488

    }

   489

}

   490

   491

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

   492

   493

int ecrt_slave_config_pdos(ec_slave_config_t *sc,

   494

        unsigned int n_syncs, const ec_sync_info_t syncs[])

   495

{

   496

    unsigned int i, j, k;

   497

    const ec_sync_info_t *sync_info;

   498

    const ec_pdo_info_t *pdo_info;

   499

    const ec_pdo_entry_info_t *entry_info;

   500