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

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 *

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 *  $Id$

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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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/**

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   \file

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   EtherCAT slave configuration methods.

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*/

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

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#include <linux/module.h>

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    43

#include "globals.h"

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#include "master.h"

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    46

#include "slave_config.h"

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    48

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

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    50

void ec_slave_config_clear(struct kobject *);

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ssize_t ec_show_slave_config_attribute(struct kobject *, struct attribute *,

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        char *);

    53

    54

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

    55

    56

/** \cond */

    57

    58

EC_SYSFS_READ_ATTR(info);

    59

    60

static struct attribute *def_attrs[] = {

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    &attr_info,

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    NULL,

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};

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    65

static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_config_attribute

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};

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    69

static struct kobj_type ktype_ec_slave_config = {

    70

    .release = ec_slave_config_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

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};

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    75

/** \endcond */

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    77

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

    78

    79

/** Slave configuration constructor.

    80

 *

    81

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

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 * position parameters.

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 *

    84

 * \retval 0 Success.

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 * \retval <0 Failure.

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 */

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int ec_slave_config_init(ec_slave_config_t *sc, /**< Slave configuration. */

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

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

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

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

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

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        )

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{

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    ec_direction_t dir;

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    97

    sc->master = master;

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    sc->alias = alias;

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    sc->position = position;

   100

    sc->vendor_id = vendor_id;

   101

    sc->product_code = product_code;

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    sc->slave = NULL;

   103

   104

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

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        ec_pdo_mapping_init(&sc->mapping[dir]);

   106

   107

    INIT_LIST_HEAD(&sc->sdo_configs);

   108

   109

    sc->used_fmmus = 0;

   110

   111

    // init kobject and add it to the hierarchy

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    memset(&sc->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&sc->kobj);

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    sc->kobj.ktype = &ktype_ec_slave_config;

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    sc->kobj.parent = &master->kobj;

   116

    if (kobject_set_name(&sc->kobj, "config-%u-%u", sc->alias, sc->position)) {

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        EC_ERR("Failed to set kobject name for slave config %u:%u.\n",

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                sc->alias, sc->position);

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        goto out_put;

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    }

   121

    if (kobject_add(&sc->kobj)) {

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        EC_ERR("Failed to add kobject for slave config %u:%u.\n",

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                sc->alias, sc->position);

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        goto out_put;

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    }

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    return 0;

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   129

 out_put:

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    kobject_put(&sc->kobj);

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    return -1;

   132

}

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   134

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

   135

   136

/** Slave configuration destructor.

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 *

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 * Clears and frees a slave configuration object.

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 */

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void ec_slave_config_destroy(

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

   142

        )

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{

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    ec_slave_config_detach(sc);

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    // destroy self

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    kobject_del(&sc->kobj);

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    kobject_put(&sc->kobj);

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}

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

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   153

/** Clear and free the slave configuration.

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 * 

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 * This method is called by the kobject, once there are no more references to

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 * it.

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 */

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void ec_slave_config_clear(struct kobject *kobj /**< kobject of the config. */)

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{

   160

    ec_slave_config_t *sc;

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    ec_direction_t dir;

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    ec_sdo_data_t *sdodata, *next_sdodata;

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   164

    sc = container_of(kobj, ec_slave_config_t, kobj);

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   166

    // Free Pdo mappings

   167

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

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        ec_pdo_mapping_clear(&sc->mapping[dir]);

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   170

    // free all Sdo configurations

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    list_for_each_entry_safe(sdodata, next_sdodata, &sc->sdo_configs, list) {

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        list_del(&sdodata->list);

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        kfree(sdodata->data);

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        kfree(sdodata);

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    }

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   177

    /** \todo */

   178

   179

    kfree(sc);

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}

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

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   184

/** Prepares an FMMU configuration.

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 *

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

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

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

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

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 * FMMU configuration is already prepared, the function returns with success.

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 *

   192

 * \retval >=0 Logical offset address.

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 * \retval -1  FMMU limit reached.

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 */

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int ec_slave_config_prepare_fmmu(

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

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

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        ec_direction_t dir /**< Pdo direction. */

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        )

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{

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    unsigned int i;

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    ec_fmmu_config_t *fmmu;

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    // 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;

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    }

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   211

    if (sc->used_fmmus == EC_MAX_FMMUS) {

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

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                sc->alias, sc->position);

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        return -1;

   215

    }

   216

   217

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

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    ec_fmmu_config_init(fmmu, sc, domain, dir);

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    return fmmu->logical_start_address;

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}

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   222

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

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   224

/** Outputs all information about a certain slave configuration.

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*/

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ssize_t ec_slave_config_info(

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

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        char *buffer /**< Output buffer */

   229

        )

   230

{

   231

    char *buf = buffer;

   232

    ec_direction_t dir;

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    const ec_pdo_mapping_t *map;

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    const ec_pdo_t *pdo;

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    const ec_pdo_entry_t *entry;

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    char str[20];

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    ec_sdo_data_t *sdodata;

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   239

    buf += sprintf(buf, "Alias: 0x%04X (%u)\n", sc->alias, sc->alias);

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    buf += sprintf(buf, "Position: %u\n", sc->position);

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   242

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

   243

        map = &sc->mapping[dir];

   244

   245

        if (!list_empty(&map->pdos)) {

   246

            buf += sprintf(buf, "%s mapping:\n",

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                    dir == EC_DIR_OUTPUT ? "Output" : "Input");

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   249

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

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                buf += sprintf(buf, "  %s 0x%04X \"%s\"\n",

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                        pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",

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                        pdo->index, pdo->name ? pdo->name : "???");

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

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                    buf += sprintf(buf, "    0x%04X:%X \"%s\", %u bit\n",

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                            entry->index, entry->subindex,

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                            entry->name ? entry->name : "???",

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                            entry->bit_length);

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                }

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            }

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        }

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    }

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   264

    // type-cast to avoid warnings on some compilers

   265

    if (!list_empty((struct list_head *) &sc->sdo_configs)) {

   266

        buf += sprintf(buf, "\nSdo configurations:\n");

   267

   268

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

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            switch (sdodata->size) {

   270

                case 1: sprintf(str, "%u", EC_READ_U8(sdodata->data)); break;

   271

                case 2: sprintf(str, "%u", EC_READ_U16(sdodata->data)); break;

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                case 4: sprintf(str, "%u", EC_READ_U32(sdodata->data)); break;

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                default: sprintf(str, "(invalid size)"); break;

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            }

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            buf += sprintf(buf, "  0x%04X:%-3i -> %s\n",

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                    sdodata->index, sdodata->subindex, str);

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        }

   278

        buf += sprintf(buf, "\n");

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    }

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   281

    return buf - buffer;

   282

}

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

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   286

/** Formats attribute data for SysFS read access.

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 *

   288

 * \return number of bytes to read

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 */

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ssize_t ec_show_slave_config_attribute(

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        struct kobject *kobj, /**< Slave configuration's kobject */

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        struct attribute *attr, /**< Requested attribute. */

   293

        char *buffer /**< Memory to store data. */

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        )

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{

   296

    ec_slave_config_t *sc = container_of(kobj, ec_slave_config_t, kobj);

   297

   298

    if (attr == &attr_info) {

   299

        return ec_slave_config_info(sc, buffer);

   300

    }

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   302

    return 0;

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}

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

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   307

/** Adds an Sdo configuration.

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 */

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int ec_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,

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        uint8_t subindex, const uint8_t *data, size_t size)

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{

   312

    ec_slave_t *slave = sc->slave;

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    ec_sdo_data_t *sdodata;

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   315

    if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_COE)) {

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        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);

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        return -1;

   318

    }

   319

   320

    if (!(sdodata = (ec_sdo_data_t *)

   321

          kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {

   322

        EC_ERR("Failed to allocate memory for Sdo configuration object!\n");

   323

        return -1;

   324

    }

   325

   326

    if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {

   327

        EC_ERR("Failed to allocate memory for Sdo configuration data!\n");

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        kfree(sdodata);

   329

        return -1;

   330

    }

   331

   332

    sdodata->index = index;

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    sdodata->subindex = subindex;

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    memcpy(sdodata->data, data, size);

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    sdodata->size = size;

   336

   337

    list_add_tail(&sdodata->list, &sc->sdo_configs);

   338

    return 0;

   339

}

   340

   341

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

   342

   343

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

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 *

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 * \retval 0 Success.

   346

 * \retval -1 Slave not found.

   347

 * \retval -2 Slave already configured.

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

   349

 */

   350

int ec_slave_config_attach(

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

   352

        )

   353

{

   354

	ec_slave_t *slave;

   355

	unsigned int alias_found = 0, relative_position = 0;

   356

   357

	if (sc->slave)

   358

		return 0; // already attached

   359

   360

	list_for_each_entry(slave, &sc->master->slaves, list) {

   361

		if (!alias_found) {

   362

			if (sc->alias && slave->sii.alias != sc->alias)

   363

				continue;

   364

			alias_found = 1;

   365

			relative_position = 0;

   366

		}

   367

		if (relative_position == sc->position)

   368

			goto found;

   369

		relative_position++;

   370

	}

   371

   372

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

   373

			sc->alias, sc->position);

   374

	return -1;

   375

   376

found:

   377

	if (slave->config) {

   378

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

   379

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

   380

				sc->position, slave->ring_position);

   381

		return -2;

   382

	}

   383

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

   384

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

   385

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

   386

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

   387

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

   388

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

   389

				sc->vendor_id, sc->product_code);

   390

		return -3;

   391

	}

   392

   393

	// attach slave

   394

	slave->config = sc;

   395

	sc->slave = slave;

   396

   397

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   398

   399

	return 0;

   400

}

   401

   402

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

   403

   404

/** Detaches the configuration from a slave object.

   405

 */

   406

void ec_slave_config_detach(

   407

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

   408

        )

   409

{

   410

    if (sc->slave) {

   411

        sc->slave->config = NULL;

   412

        sc->slave = NULL;

   413

    }

   414

}

   415

   416

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

   417

   418

/** Loads the default mapping from the slave object.

   419

 */

   420

void ec_slave_config_load_default_mapping(ec_slave_config_t *sc)

   421

{

   422

    ec_direction_t dir;

   423

    ec_pdo_mapping_t *map;

   424

    ec_sync_t *sync;

   425

   426

    if (!sc->slave)

   427

        return;

   428

   429

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

   430

        map = &sc->mapping[dir];

   431

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

   432

            continue;

   433

        ec_pdo_mapping_copy(map, &sync->mapping);

   486

    }

   487

}

   488

   489

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

   490

 *  Realtime interface

   491

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

   492