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

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 *

     3

 *  $Id$

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 *

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 *  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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 *

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

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

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 *  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

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 *  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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 *

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

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 *  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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 *

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

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    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(

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        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. */

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

    62

        )

    63

{

    64

    ec_direction_t dir;

    65

    66

    sc->master = master;

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    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 (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

    74

        ec_pdo_list_init(&sc->pdos[dir]);

    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(

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

    90

        )

    91

{

    92

    ec_direction_t dir;

    93

    ec_sdo_request_t *req, *next_req;

    94

    95

    ec_slave_config_detach(sc);

    96

    97

    // Free Pdo mappings

    98

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

    99

        ec_pdo_list_clear(&sc->pdos[dir]);

   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

        ec_direction_t dir /**< Pdo direction. */

   134

        )

   135

{

   136

    unsigned int i;

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    ec_fmmu_config_t *fmmu;

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   139

    // 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->dir == dir)

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            return fmmu->logical_start_address;

   144

    }

   145

   146

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   147

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

   148

                sc->alias, sc->position);

   149

        return -1;

   150

    }

   151

   152

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

   153

    ec_fmmu_config_init(fmmu, sc, domain, dir);

   154

    return fmmu->logical_start_address;

   155

}

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   157

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

   158

   159

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

   160

 *

   161

 * \retval 0 Success.

   162

 * \retval -1 Slave not found.

   163

 * \retval -2 Slave already configured.

   164

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

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 */

   166

int ec_slave_config_attach(

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

   168

        )

   169

{

   170

	ec_slave_t *slave;

   171

   172

	if (sc->slave)

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		return 0; // already attached

   174

   175

    if (!(slave = ec_master_find_slave(

   176

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

   177

        if (sc->master->debug_level)

   178

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

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                    sc->alias, sc->position);

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        return -1;

   181

    }

   182

   183

	if (slave->config) {

   184

        if (sc->master->debug_level)

   185

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

   186

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

   187

                    sc->position, slave->ring_position);

   188

        return -2;

   189

    }

   190

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

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

   192

        if (sc->master->debug_level)

   193

            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);

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        return -3;

   199

	}

   200

   201

	// attach slave

   202

	slave->config = sc;

   203

	sc->slave = slave;

   204

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   205

   206

    if (sc->master->debug_level)

   207

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

   208

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

   209

   210

	return 0;

   211

}

   212

   213

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

   214

   215

/** Detaches the configuration from a slave object.

   216

 */

   217

void ec_slave_config_detach(

   218

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

   219

        )

   220

{

   221

    if (sc->slave) {

   222

        sc->slave->config = NULL;

   223

        sc->slave = NULL;

   224

    }

   225

}

   226

   227

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

   228

   229

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

   230

 */

   231

void ec_slave_config_load_default_assignment(ec_slave_config_t *sc)

   232

{

   233

    ec_direction_t dir;

   234

    ec_pdo_list_t *pdos;

   235

    ec_sync_t *sync;

   236

   237

    if (!sc->slave)

   238

        return;

   239

   240

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   241

        pdos = &sc->pdos[dir];

   242

        if ((sync = ec_slave_get_pdo_sync(sc->slave, dir)))

   243

            ec_pdo_list_copy(pdos, &sync->pdos);

   244

    }

   245

}

   246

   247

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

   248

   249

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

   250

 */

   251

void ec_slave_config_load_default_mapping(

   252

        const ec_slave_config_t *sc,

   253

        ec_pdo_t *pdo

   254

        )

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{

   256

    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

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   259

    if (sc->master->debug_level)

   260

        EC_DBG("Loading default configuration for Pdo 0x%04X in"

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                " config %u:%u.\n", pdo->index, sc->alias, sc->position);

   262

   263

    if (!sc->slave) {

   264

        if (sc->master->debug_level)

   265

            EC_DBG("Failed to load default Pdo configuration for %u:%u:"

   266

                    " Slave not found.\n", sc->alias, sc->position);

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        return;

   268

    }

   269

   270

    if (!(sync = ec_slave_get_pdo_sync(sc->slave, pdo->dir))) {

   271

        if (sc->master->debug_level)

   272

            EC_DBG("Slave %u does not provide a default Pdo"

   273

                    " configuration!\n", sc->slave->ring_position);

   274

        return;

   275

    }

   276

   277

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

   278

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

   279

            continue;

   280

   281

        if (sc->master->debug_level)

   282

            EC_DBG("  Found Pdo name \"%s\".\n",

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                    default_pdo->name);

   284

   285

        // try to take Pdo name from mapped one

   286

        ec_pdo_set_name(pdo, default_pdo->name);

   287

   288

        // copy entries (= default Pdo configuration)

   289

        if (ec_pdo_copy_entries(pdo, default_pdo))

   290

            return;

   291

   292

        if (sc->master->debug_level) {

   293

            const ec_pdo_entry_t *entry;

   294

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

   295

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

   296

                        entry->index, entry->subindex);

   297

            }

   298

        }

   299

    }

   300

}

   301

   302

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

   303

   304

unsigned int ec_slave_config_sdo_count(

   305

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

   306

        )

   307

{

   308

	const ec_sdo_request_t *req;

   309

	unsigned int count = 0;

   310

   311

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

   312

		count++;

   313

	}

   314

   315

	return count;

   316

}

   317

   318

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

   319

   320

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

   321

 *

   322

 * Const version.

   323

 */

   324

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   325

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

   326

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

   327

        )

   328

{

   329

    const ec_sdo_request_t *req;

   330

   331

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

   332

        if (pos--)

   333

            continue;

   334

        return req;

   335

    }

   336

   337

    return NULL;

   338

}

   339

   340

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

   341

 *  Realtime interface

   342

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

   343

   344

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   345

        ec_direction_t dir, uint16_t index)

   346

{

   347

    ec_pdo_list_t *pl = &sc->pdos[dir];

   348

    ec_pdo_t *pdo;

   349

   350

    if (sc->master->debug_level)

   351

        EC_DBG("Adding Pdo 0x%04X to assignment for dir %u, config %u:%u.\n",

   352

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

   353

   354

    if (!(pdo = ec_pdo_list_add_pdo(pl, dir, index)))

   355

        return -1;

   356

   357

    ec_slave_config_load_default_mapping(sc, pdo);

   358

    return 0;

   359

}

   360

   361

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

   362

   363

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   364

        ec_direction_t dir)

   365

{

   366

    if (sc->master->debug_level)

   367

        EC_DBG("Clearing Pdo assignment for dir %u, config %u:%u.\n",

   368

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

   369

   370

    ec_pdo_list_clear_pdos(&sc->pdos[dir]);

   371

}

   372

   373

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

   374

   375

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   376

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   377

        uint8_t entry_bit_length)

   378

{

   379

    ec_direction_t dir;

   380

    ec_pdo_t *pdo;

   381

   382

    if (sc->master->debug_level)

   383

        EC_DBG("Adding Pdo entry 0x%04X:%02X (%u bit) to mapping of Pdo"

   384

                " 0x%04X, config %u:%u.\n", entry_index, entry_subindex,

   385

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

   386

   387

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

   388

        if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))

   389

            break;

   390

   391

    if (!pdo) {

   392

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

   393

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

   394

        return -1;

   395

    }

   396

   397

    return ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   398

            entry_bit_length) ? 0 : -1;

   399

}

   400

   401

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

   402

   403

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

   404

        uint16_t pdo_index)

   405

{

   406

    ec_direction_t dir;

   407

    ec_pdo_t *pdo;

   408

   409

    if (sc->master->debug_level)

   410

        EC_DBG("Clearing mapping of Pdo 0x%04X, config %u:%u.\n",

   411

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

   412

   413

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

   414

        if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))

   415

            break;

   416

   417

    if (!pdo) {

   418

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

   419

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

   420

        return;

   421

    }

   422

   423

    ec_pdo_clear_entries(pdo);

   424

}

   425

   426

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

   427

   428

int ecrt_slave_config_pdos(ec_slave_config_t *sc, unsigned int n_infos,

   429

        const ec_pdo_info_t pdo_infos[])

   430

{

   431

    unsigned int i, j;

   432

    const ec_pdo_info_t *pi;

   433

    ec_pdo_list_t *pl;

   434

    unsigned int cleared[] = {0, 0};

   435

    const ec_pdo_entry_info_t *ei;

   436

   437

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

   438

        pi = &pdo_infos[i];

   439

   440

        if (pi->dir == EC_END)

   441

            break;

   442

   443

        pl = &sc->pdos[pi->dir];

   444

   445

        if (!cleared[pi->dir]) {

   446

            ecrt_slave_config_pdo_assign_clear(sc, pi->dir);

   447

            cleared[pi->dir] = 1;

   448

        }

   449

   450

        if (ecrt_slave_config_pdo_assign_add(sc, pi->dir, pi->index))

   451

            return -1;

   452

   453

        if (pi->n_entries && pi->entries) { // mapping provided

   454

            if (sc->master->debug_level)

   455

                EC_DBG("  Pdo mapping information provided.\n");

   456

   457

            ecrt_slave_config_pdo_mapping_clear(sc, pi->index);

   458

   459

            for (j = 0; j < pi->n_entries; j++) {

   460

                ei = &pi->entries[j];

   461

   462

                if (ecrt_slave_config_pdo_mapping_add(sc, pi->index,

   463

                        ei->index, ei->subindex, ei->bit_length))

   464

                    return -1;

   465

            }

   466

        }

   467

    }

   468

   469

    return 0;

   470

}

   471

   472

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

   473

   474

int ecrt_slave_config_reg_pdo_entry(

   475

        ec_slave_config_t *sc,

   476

        uint16_t index,

   477

        uint8_t subindex,

   478

        ec_domain_t *domain,

   479

        unsigned int *bit_position

   480

        )

   481

{

   482

    ec_direction_t dir;

   483

    ec_pdo_list_t *pdos;

   484

    unsigned int bit_offset, bit_pos;

   485

    ec_pdo_t *pdo;

   486

    ec_pdo_entry_t *entry;

   487

    int sync_offset;

   488

   489

    if (sc->master->debug_level)

   490

        EC_DBG("ecrt_slave_config_reg_pdo_entry(sc = 0x%x, index = 0x%04X, "

   491

                "subindex = 0x%02X, domain = 0x%x, bit_position = 0x%x)\n",

   492

                (unsigned int) sc, index, subindex, (unsigned int) domain,

   493

                (unsigned int) bit_position);

   494

   495

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   496

        pdos = &sc->pdos[dir];

   497

        bit_offset = 0;

   498

        list_for_each_entry(pdo, &pdos->list, list) {

   499

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

   500

                if (entry->index != index || entry->subindex != subindex) {

   501

                    bit_offset += entry->bit_length;