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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     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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 *

    14

 *  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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

    18

 *

    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

/**

    35

   \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

#include "voe_handler.h"

    46

    47

#include "slave_config.h"

    48

    49

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

    50

    51

/** Slave configuration constructor.

    52

 *

    53

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

    54

 * position parameters.

    55

 */

    56

void ec_slave_config_init(

    57

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

    58

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

    59

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

    60

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

    61

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

    62

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

    63

        )

    64

{

    65

    unsigned int i;

    66

    67

    sc->master = master;

    68

    sc->alias = alias;

    69

    sc->position = position;

    70

    sc->vendor_id = vendor_id;

    71

    sc->product_code = product_code;

    72

    sc->slave = NULL;

    73

    74

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

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

    76

    77

    INIT_LIST_HEAD(&sc->sdo_configs);

    78

    INIT_LIST_HEAD(&sc->sdo_requests);

    79

    INIT_LIST_HEAD(&sc->voe_handlers);

    80

    81

    sc->used_fmmus = 0;

    82

}

    83

    84

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

    85

    86

/** Slave configuration destructor.

    87

 *

    88

 * Clears and frees a slave configuration object.

    89

 */

    90

void ec_slave_config_clear(

    91

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

    92

        )

    93

{

    94

    unsigned int i;

    95

    ec_sdo_request_t *req, *next_req;

    96

    ec_voe_handler_t *voe, *next_voe;

    97

    98

    ec_slave_config_detach(sc);

    99

   100

    // Free sync managers

   101

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

   102

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

   103

   104

    // free all Sdo configurations

   105

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

   106

        list_del(&req->list);

   107

        ec_sdo_request_clear(req);

   108

        kfree(req);

   109

    }

   110

   111

    // free all Sdo requests

   112

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

   113

        list_del(&req->list);

   114

        ec_sdo_request_clear(req);

   115

        kfree(req);

   116

    }

   117

   118

    // free all VoE handlers

   119

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

   120

        list_del(&voe->list);

   121

        ec_voe_handler_clear(voe);

   122

        kfree(voe);

   123

    }

   124

}

   125

   126

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

   127

   128

/** Prepares an FMMU configuration.

   129

 *

   130

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

   131

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

   132

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

   133

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

   134

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

   135

 * returns with success.

   136

 *

   137

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

   138

 * \retval -1  Error, FMMU limit reached.

   139

 */

   140

int ec_slave_config_prepare_fmmu(

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

   142

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

   143

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

   144

        ec_direction_t dir /**< Pdo direction. */

   145

        )

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{

   147

    unsigned int i;

   148

    ec_fmmu_config_t *fmmu;

   149

   150

    // FMMU configuration already prepared?

   151

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

   152

        fmmu = &sc->fmmu_configs[i];

   153

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

   154

            return fmmu->logical_start_address;

   155

    }

   156

   157

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   158

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

   159

                sc->alias, sc->position);

   160

        return -1;

   161

    }

   162

   163

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

   164

   165

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

   166

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

   167

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

   168

   169

    return fmmu->logical_start_address;

   170

}

   171

   172

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

   173

   174

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

   175

 *

   176

 * \retval 0 Success.

   177

 * \retval -1 Slave not found.

   178

 * \retval -2 Slave already configured.

   179

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

   180

 */

   181

int ec_slave_config_attach(

   182

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

   183

        )

   184

{

   185

	ec_slave_t *slave;

   186

   187

	if (sc->slave)

   188

		return 0; // already attached

   189

   190

    if (!(slave = ec_master_find_slave(

   191

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

   192

        if (sc->master->debug_level)

   193

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

   194

                    sc->alias, sc->position);

   195

        return -1;

   196

    }

   197

   198

	if (slave->config) {

   199

        if (sc->master->debug_level)

   200

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

   201

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

   202

                    sc->position, slave->ring_position);

   203

        return -2;

   204

    }

   205

   206

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

   207

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

   208

        if (sc->master->debug_level)

   209

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

   210

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

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

   212

                    slave->sii.product_code, sc->alias, sc->position,

   213

                    sc->vendor_id, sc->product_code);

   214

        return -3;

   215

	}

   216

   217

	// attach slave

   218

	slave->config = sc;

   219

	sc->slave = slave;

   220

   221

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   222

   223

    if (sc->master->debug_level)

   224

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

   225

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

   226

   227

	return 0;

   228

}

   229

   230

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

   231

   232

/** Detaches the configuration from a slave object.

   233

 */

   234

void ec_slave_config_detach(

   235

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

   236

        )

   237

{

   238

    if (sc->slave) {

   239

        sc->slave->config = NULL;

   240

        sc->slave = NULL;

   241

    }

   242

}

   243

   244

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

   245

   246

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

   247

 */

   248

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   249

{

   250

    uint8_t sync_index;

   251

    ec_sync_config_t *sync_config;

   252

    const ec_sync_t *sync;

   253

   254

    if (!sc->slave)

   255

        return;

   256

   257

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

   258

        sync_config = &sc->sync_configs[sync_index];

   259

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

   260

            sync_config->dir = ec_sync_default_direction(sync);

   261

            if (sync_config->dir == EC_DIR_INVALID)

   262

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

   263

                        sync_index, sc->slave->ring_position);

   264

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

   265

        }

   266

    }

   267

}

   268

   269

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

   270

   271

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

   272

 */

   273

void ec_slave_config_load_default_mapping(

   274

        const ec_slave_config_t *sc,

   275

        ec_pdo_t *pdo

   276

        )

   277

{

   278

    unsigned int i;

   279

    const ec_sync_t *sync;

   280

    const ec_pdo_t *default_pdo;

   281

   282

    if (!sc->slave)

   283

        return;

   284

   285

    if (sc->master->debug_level)

   286

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

   287

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

   288

   289

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

   290

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

   291

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

   292

   293

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

   294

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

   295

                continue;

   296

   297

            if (default_pdo->name) {

   298

                if (sc->master->debug_level)

   299

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

   300

   301

                // take Pdo name from assigned one

   302

                ec_pdo_set_name(pdo, default_pdo->name);

   303

            }

   304

   305

            // copy entries (= default Pdo mapping)

   306

            if (ec_pdo_copy_entries(pdo, default_pdo))

   307

                return;

   308

   309

            if (sc->master->debug_level) {

   310

                const ec_pdo_entry_t *entry;

   311

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

   312

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

   313

                            entry->index, entry->subindex);

   314

                }

   315

            }

   316

   317

            return;

   318

        }

   319

    }

   320

   321

    if (sc->master->debug_level)

   322

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

   323

}

   324

   325

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

   326

   327

/** Get the number of Sdo configurations.

   328

 *

   329

 * \return Number of Sdo configurations.

   330

 */

   331

unsigned int ec_slave_config_sdo_count(

   332

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

   333

        )

   334

{

   335

	const ec_sdo_request_t *req;

   336

	unsigned int count = 0;

   337

   338

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

   339

		count++;

   340

	}

   341

   342

	return count;

   343

}

   344

   345

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

   346

   347

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

   348

 *

   349

 * Const version.

   350

 */

   351

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   352

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

   353

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

   354

        )

   355

{

   356

    const ec_sdo_request_t *req;

   357

   358

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

   359

        if (pos--)

   360

            continue;

   361

        return req;

   362

    }

   363

   364

    return NULL;

   365

}

   366

   367

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

   368

 *  Realtime interface

   369

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

   370

   371

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   372

        ec_direction_t dir)

   373

{

   374

    ec_sync_config_t *sync_config;

   375

   376

    if (sc->master->debug_level)

   377

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

   378

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

   379

   380

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   381

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

   382

        return -1;

   383

    }

   384

   385

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

   386

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

   387

        return -1;

   388

    }

   389

   390

    sync_config = &sc->sync_configs[sync_index];

   391

    sync_config->dir = dir;

   392

    return 0;

   393

}

   394

   395

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

   396

   397

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   398

        uint8_t sync_index, uint16_t pdo_index)

   399

{

   400

    ec_pdo_t *pdo;

   401

   402

    if (sc->master->debug_level)

   403

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

   404

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

   405

   406

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   407

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

   408

        return -1;

   409

    }

   410

   411

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

   412

   413

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

   414

                    pdo_index))) {

   415

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

   416

        return -1;

   417

    }

   418

    pdo->sync_index = sync_index;

   419

   420

    ec_slave_config_load_default_mapping(sc, pdo);

   421

   422

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

   423

    return 0;

   424

}

   425

   426

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

   427

   428

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   429

        uint8_t sync_index)

   430

{

   431

    if (sc->master->debug_level)

   432

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

   433

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

   434

   435

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   436

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

   437

        return;

   438

    }

   439

   440

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

   441

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

   442

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

   443

}

   444

   445

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

   446

   447

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   448

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   449

        uint8_t entry_bit_length)

   450

{

   451

    uint8_t sync_index;

   452

    ec_pdo_t *pdo = NULL;

   453

    int retval = -1;

   454

   455

    if (sc->master->debug_level)

   456

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

   457

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

   458

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

   459

                (u32) sc, pdo_index, entry_index, entry_subindex,

   460

                entry_bit_length);

   461

   462

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

   463

        if ((pdo = ec_pdo_list_find_pdo(

   464

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

   465

            break;

   466

   467

    if (pdo) {

   468

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

   469

        retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   470

                entry_bit_length) ? 0 : -1;

   471

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

   472

    } else {

   473

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

   474

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

   475

    }

   476

   477

    return retval;

   478

}

   479

   480

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

   481

   482

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

   483

        uint16_t pdo_index)

   484

{

   485

    uint8_t sync_index;

   486

    ec_pdo_t *pdo = NULL;

   487

   488

    if (sc->master->debug_level)

   489

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

   490

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

   491

   492

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

   493

        if ((pdo = ec_pdo_list_find_pdo(

   494

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

   495

            break;

   496

   497

    if (pdo) {

   498

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

   499

        ec_pdo_clear_entries(pdo);

   500