1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    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

    12

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

    13

 *

    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

    17

 *  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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/delay.h>

    43

    44

#include "globals.h"

    45

#include "datagram.h"

    46

#include "master.h"

    47

#include "slave_config.h"

    48

    49

#include "slave.h"

    50

    51

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

    52

    53

extern const ec_code_msg_t al_status_messages[];

    54

    55

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

    56

    57

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    58

    59

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

    60

    61

/**

    62

   Slave constructor.

    63

   \return 0 in case of success, else < 0

    64

*/

    65

    66

void ec_slave_init(

    67

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

    68

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

    69

        uint16_t ring_position, /**< ring position */

    70

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

    71

        )

    72

{

    73

    unsigned int i;

    74

    75

    slave->master = master;

    76

    slave->ring_position = ring_position;

    77

    slave->station_address = station_address;

    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

    85

    slave->base_type = 0;

    86

    slave->base_revision = 0;

    87

    slave->base_build = 0;

    88

    slave->base_fmmu_count = 0;

    89

    90

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

    91

        slave->ports[i].dl_link = 0;

    92

        slave->ports[i].dl_loop = 0;

    93

        slave->ports[i].dl_signal = 0;

    94

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

    95

    }

    96

    97

    slave->sii_words = NULL;

    98

    slave->sii_nwords = 0;

    99

   100

    slave->sii.alias = 0;

   101

    slave->sii.vendor_id = 0;

   102

    slave->sii.product_code = 0;

   103

    slave->sii.revision_number = 0;

   104

    slave->sii.serial_number = 0;

   105

    slave->sii.rx_mailbox_offset = 0;

   106

    slave->sii.rx_mailbox_size = 0;

   107

    slave->sii.tx_mailbox_offset = 0;

   108

    slave->sii.tx_mailbox_size = 0;

   109

    slave->sii.mailbox_protocols = 0;

   110

   111

    slave->sii.strings = NULL;

   112

    slave->sii.string_count = 0;

   113

   114

    slave->sii.has_general = 0;

   115

    slave->sii.group = NULL;

   116

    slave->sii.image = NULL;

   117

    slave->sii.order = NULL;

   118

    slave->sii.name = NULL;

   119

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

   120

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

   121

    slave->sii.current_on_ebus = 0;

   122

   123

    slave->sii.syncs = NULL;

   124

    slave->sii.sync_count = 0;

   125

   126

    INIT_LIST_HEAD(&slave->sii.pdos);

   127

   128

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   129

   130

    slave->sdo_dictionary_fetched = 0;

   131

    slave->jiffies_preop = 0;

   132

}

   133

   134

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

   135

   136

/**

   137

   Slave destructor.

   138

   Clears and frees a slave object.

   139

*/

   140

   141

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

   142

{

   143

    ec_sdo_t *sdo, *next_sdo;

   144

    unsigned int i;

   145

    ec_pdo_t *pdo, *next_pdo;

   146

   147

    if (slave->config)

   148

        ec_slave_config_detach(slave->config);

   149

   150

    // free all Sdos

   151

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

   152

        list_del(&sdo->list);

   153

        ec_sdo_clear(sdo);

   154

        kfree(sdo);

   155

    }

   156

   157

    // free all strings

   158

    if (slave->sii.strings) {

   159

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

   160

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

   161

        kfree(slave->sii.strings);

   162

    }

   163

   164

    // free all sync managers

   165

    ec_slave_clear_sync_managers(slave);

   166

   167

    // free all SII Pdos

   168

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

   169

        list_del(&pdo->list);

   170

        ec_pdo_clear(pdo);

   171

        kfree(pdo);

   172

    }

   173

   174

    if (slave->sii_words)

   175

        kfree(slave->sii_words);

   176

}

   177

   178

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

   179

   180

/** Clear the sync manager array. 

   181

 */

   182

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

   183

{

   184

    unsigned int i;

   185

   186

    if (slave->sii.syncs) {

   187

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

   188

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

   189

        }

   190

        kfree(slave->sii.syncs);

   191

        slave->sii.syncs = NULL;

   192

    }

   193

}

   194

   195

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

   196

   197

/**

   198

 * Sets the application state of a slave.

   199

 */

   200

   201

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

   202

        ec_slave_state_t new_state /**< new application state */

   203

        )

   204

{

   205

    if (new_state != slave->current_state) {

   206

        if (slave->master->debug_level) {

   207

            char old_state[EC_STATE_STRING_SIZE],

   208

                cur_state[EC_STATE_STRING_SIZE];

   209

            ec_state_string(slave->current_state, old_state);

   210

            ec_state_string(new_state, cur_state);

   211

            EC_DBG("Slave %u: %s -> %s.\n",

   212

                   slave->ring_position, old_state, cur_state);

   213

        }

   214

        slave->current_state = new_state;

   215

    }

   216

}

   217

   218

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

   219

   220

/**

   221

 * Request a slave state and resets the error flag.

   222

 */

   223

   224

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

   225

                            ec_slave_state_t state /**< new state */

   226

                            )

   227

{

   228

    slave->requested_state = state;

   229

    slave->error_flag = 0;

   230

}

   231

   232

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

   233

   234

/**

   235

   Fetches data from a STRING category.

   236

   \todo range checking

   237

   \return 0 in case of success, else < 0

   238

*/

   239

   240

int ec_slave_fetch_sii_strings(

   241

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

   242

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

   243

        size_t data_size /**< number of bytes */

   244

        )

   245

{

   246

    int i;

   247

    size_t size;

   248

    off_t offset;

   249

   250

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

   251

   252

    if (!slave->sii.string_count)

   253

        return 0;

   254

   255

    if (!(slave->sii.strings =

   256

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

   257

                    GFP_KERNEL))) {

   258

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

   259

        goto out_zero;

   260

    }

   261

   262

    offset = 1;

   263

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

   264

        size = data[offset];

   265

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

   266

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

   267

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

   268

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

   269

            goto out_free;

   270

        }

   271

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

   272

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

   273

        offset += 1 + size;

   274

    }

   275

   276

    return 0;

   277

   278

out_free:

   279

    for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);

   280

    kfree(slave->sii.strings);

   281

    slave->sii.strings = NULL;

   282

out_zero:

   283

    slave->sii.string_count = 0;

   284

    return -1;

   285

}

   286

   287

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

   288

   289

/**

   290

   Fetches data from a GENERAL category.

   291

   \return 0 in case of success, else < 0

   292

*/

   293

   294

int ec_slave_fetch_sii_general(

   295

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

   296

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

   297

        size_t data_size /**< size in bytes */

   298

        )

   299

{

   300

    unsigned int i;

   301

    uint8_t flags;

   302

   303

    if (data_size != 32) {

   304

        EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",

   305

                data_size, slave->ring_position);

   306

        return -1;

   307

    }

   308

   309

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

   310

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

   311

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

   312

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

   313

   314

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

   315

        slave->sii.physical_layer[i] =

   316

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

   317

   318

    // read CoE details

   319

    flags = EC_READ_U8(data + 5);

   320

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

   321

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

   322

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

   323

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

   324

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

   325

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

   326

   327

    // read general flags

   328

    flags = EC_READ_U8(data + 0x000B);

   329

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

   330

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

   331

   332

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

   333

    slave->sii.has_general = 1;

   334

    return 0;

   335

}

   336

   337

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

   338

   339

/** Fetches data from a SYNC MANAGER category.

   340

 *

   341

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

   342

 *

   343

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

   344

 */

   345

int ec_slave_fetch_sii_syncs(

   346

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

   347

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

   348

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

   349

        )

   350

{

   351

    unsigned int i, count, total_count;

   352

    ec_sync_t *sync;

   353

    size_t memsize;

   354

    ec_sync_t *syncs;

   355

    uint8_t index;

   356

   357

    // one sync manager struct is 4 words long

   358

    if (data_size % 8) {

   359

        EC_ERR("Invalid SII sync manager category size %u in slave %u.\n",

   360

                data_size, slave->ring_position);

   361

        return -1;

   362

    }

   363

   364

    count = data_size / 8;

   365

   366

    if (count) {

   367

        total_count = count + slave->sii.sync_count;

   368

        memsize = sizeof(ec_sync_t) * total_count;

   369

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

   370

            EC_ERR("Failed to allocate %u bytes for sync managers.\n",

   371

                    memsize);

   372

            return -1;

   373

        }

   374

   375

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

   376

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

   377

   378

        // initialize new sync managers

   379

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

   380

            index = i + slave->sii.sync_count;

   381

            sync = &syncs[index];

   382

   383

            ec_sync_init(sync, slave, index);

   384

            sync->physical_start_address = EC_READ_U16(data);

   385

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

   386

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

   387

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

   388

        }

   389

   390

        if (slave->sii.syncs)

   391

            kfree(slave->sii.syncs);

   392

        slave->sii.syncs = syncs;

   393

        slave->sii.sync_count = total_count;

   394

    }

   395

   396

    return 0;

   397

}

   398

   399

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

   400

   401

/**

   402

   Fetches data from a [RT]XPdo category.

   403

   \return 0 in case of success, else < 0

   404

*/

   405

   406

int ec_slave_fetch_sii_pdos(

   407

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

   408

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

   409

        size_t data_size, /**< number of bytes */

   410

        ec_direction_t dir /**< Pdo direction. */

   411

        )

   412

{

   413

    ec_pdo_t *pdo;

   414

    ec_pdo_entry_t *entry;

   415

    unsigned int entry_count, i;

   416

   417

    while (data_size >= 8) {

   418

        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {

   419

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

   420

            return -1;

   421

        }

   422

   423

        ec_pdo_init(pdo);

   424

        pdo->dir = dir;

   425

        pdo->index = EC_READ_U16(data);

   426

        entry_count = EC_READ_U8(data + 2);

   427

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

   428

        if (ec_pdo_set_name(pdo,

   429

                ec_slave_sii_string(slave, EC_READ_U8(data + 5)))) {

   430

            ec_pdo_clear(pdo);

   431

            kfree(pdo);

   432

            return -1;

   433

        }

   434

        list_add_tail(&pdo->list, &slave->sii.pdos);

   435

   436

        data_size -= 8;

   437

        data += 8;

   438

   439

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

   440

            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {

   441

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

   442

                return -1;

   443

            }

   444

   445

            ec_pdo_entry_init(entry);

   446

            entry->index = EC_READ_U16(data);

   447

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

   448

            if (ec_pdo_entry_set_name(entry,

   449

                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)))) {

   450

                ec_pdo_entry_clear(entry);

   451

                kfree(entry);

   452

                return -1;

   453

            }

   454

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

   455

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

   456

   457

            data_size -= 8;

   458

            data += 8;

   459

        }

   460

   461

        // if sync manager index is positive, the Pdo is mapped by default

   462

        if (pdo->sync_index >= 0) {

   463

            ec_sync_t *sync;

   464

   465

            if (pdo->sync_index >= slave->sii.sync_count) {

   466

                EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",

   467

                        pdo->sync_index, pdo->index, slave->ring_position);

   468

                return -1;

   469

            }

   470

            sync = &slave->sii.syncs[pdo->sync_index];

   471

   472

            if (ec_pdo_list_add_pdo_copy(&sync->pdos, pdo))

   473

                return -1;

   474

   475

            sync->assign_source = EC_ASSIGN_SII;

   476

        }

   477

    }

   478

   479

    return 0;

   480

}

   481

   482

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

   483

   484

/**