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

     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

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 *  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

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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

    29

 *  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/module.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

void ec_slave_config_clear(struct kobject *);

    51

ssize_t ec_show_slave_config_attribute(struct kobject *, struct attribute *,

    52

        char *);

    53

    54

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

    55

    56

/** \cond */

    57

    58

EC_SYSFS_READ_ATTR(info);

    59

    60

static struct attribute *def_attrs[] = {

    61

    &attr_info,

    62

    NULL,

    63

};

    64

    65

static struct sysfs_ops sysfs_ops = {

    66

    .show = ec_show_slave_config_attribute

    67

};

    68

    69

static struct kobj_type ktype_ec_slave_config = {

    70

    .release = ec_slave_config_clear,

    71

    .sysfs_ops = &sysfs_ops,

    72

    .default_attrs = def_attrs

    73

};

    74

    75

/** \endcond */

    76

    77

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

    78

    79

/** Slave configuration constructor.

    80

 *

    81

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

    82

 * position parameters.

    83

 *

    84

 * \retval 0 Success.

    85

 * \retval <0 Failure.

    86

 */

    87

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

    88

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

    89

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

    90

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

    91

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

    92

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

    93

        )

    94

{

    95

    ec_direction_t dir;

    96

    97

    sc->master = master;

    98

    sc->alias = alias;

    99

    sc->position = position;

   100

    sc->vendor_id = vendor_id;

   101

    sc->product_code = product_code;

   102

    sc->slave = NULL;

   103

   104

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

   105

        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

   112

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

   113

    kobject_init(&sc->kobj);

   114

    sc->kobj.ktype = &ktype_ec_slave_config;

   115

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

   116

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

   117

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

   118

                sc->alias, sc->position);

   119

        goto out_put;

   120

    }

   121

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

   122

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

   123

                sc->alias, sc->position);

   124

        goto out_put;

   125

    }

   126

   127

    return 0;

   128

   129

 out_put:

   130

    kobject_put(&sc->kobj);

   131

    return -1;

   132

}

   133

   134

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

   135

   136

/** Slave configuration destructor.

   137

 *

   138

 * Clears and frees a slave configuration object.

   139

 */

   140

void ec_slave_config_destroy(

   141

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

   142

        )

   143

{

   144

    ec_slave_config_detach(sc);

   145

   146

    // destroy self

   147

    kobject_del(&sc->kobj);

   148

    kobject_put(&sc->kobj);

   149

}

   150

   151

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

   152

   153

/** Clear and free the slave configuration.

   154

 * 

   155

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

   156

 * it.

   157

 */

   158

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

   159

{

   160

    ec_slave_config_t *sc;

   161

    ec_direction_t dir;

   162

    ec_sdo_request_t *req, *next_req;

   163

   164

    sc = container_of(kobj, ec_slave_config_t, kobj);

   165

   166

    // Free Pdo mappings

   167

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

   168

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

   169

   170

    // free all Sdo configurations

   171

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

   172

        list_del(&req->list);

   173

        ec_sdo_request_clear(req);

   174

        kfree(req);

   175

    }

   176

   177

    kfree(sc);

   178

}

   179

   180

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

   181

   182

/** Prepares an FMMU configuration.

   183

 *

   184

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

   185

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

   186

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

   187

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

   188

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

   189

 *

   190

 * \retval >=0 Logical offset address.

   191

 * \retval -1  FMMU limit reached.

   192

 */

   193

int ec_slave_config_prepare_fmmu(

   194

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

   195

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

   196

        ec_direction_t dir /**< Pdo direction. */

   197

        )

   198

{

   199

    unsigned int i;

   200

    ec_fmmu_config_t *fmmu;

   201

   202

    // FMMU configuration already prepared?

   203

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

   204

        fmmu = &sc->fmmu_configs[i];

   205

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

   206

            return fmmu->logical_start_address;

   207

    }

   208

   209

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   210

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

   211

                sc->alias, sc->position);

   212

        return -1;

   213

    }

   214

   215

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

   216

    ec_fmmu_config_init(fmmu, sc, domain, dir);

   217

    return fmmu->logical_start_address;

   218

}

   219

   220

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

   221

   222

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

   223

*/

   224

ssize_t ec_slave_config_info(

   225

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

   226

        char *buffer /**< Output buffer */

   227

        )

   228

{

   229

    char *buf = buffer;

   230

    ec_direction_t dir;

   231

    const ec_pdo_mapping_t *map;

   232

    const ec_pdo_t *pdo;

   233

    const ec_pdo_entry_t *entry;

   234

    char str[20];

   235

    const ec_sdo_request_t *req;

   236

   237

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

   238

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

   239

   240

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

   241

        map = &sc->mapping[dir];

   242

   243

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

   244

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

   245

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

   246

   247

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

   248

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

   249

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

   250

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

   251

   252

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

   253

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

   254

                            entry->index, entry->subindex,

   255

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

   256

                            entry->bit_length);

   257

                }

   258

            }

   259

        }

   260

    }

   261

   262

    // type-cast to avoid warnings on some compilers

   263

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

   264

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

   265

   266

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

   267

            switch (req->data_size) {

   268

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

   269

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

   270

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

   271

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

   272

            }

   273

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

   274

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

   275

        }

   276

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

   277

    }

   278

   279

    return buf - buffer;

   280

}

   281

   282

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

   283

   284

/** Formats attribute data for SysFS read access.

   285

 *

   286

 * \return number of bytes to read

   287

 */

   288

ssize_t ec_show_slave_config_attribute(

   289

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

   290

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

   291

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

   292

        )

   293

{

   294

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

   295

   296

    if (attr == &attr_info) {

   297

        return ec_slave_config_info(sc, buffer);

   298

    }

   299

   300

    return 0;

   301

}

   302

   303

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

   304

   305

/** Adds an Sdo configuration.

   306

 */

   307

int ec_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,

   308

        uint8_t subindex, const uint8_t *data, size_t size)

   309

{

   310

    ec_slave_t *slave = sc->slave;

   311

    ec_sdo_request_t *req;

   312

   313

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

   314

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

   315

        return -1;

   316

    }

   317

   318

    if (!(req = (ec_sdo_request_t *)

   319

          kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {

   320

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

   321

        return -1;

   322

    }

   323

   324

    ec_sdo_request_init(req);

   325

    ec_sdo_request_address(req, index, subindex);

   326

   327

    if (ec_sdo_request_copy_data(req, data, size)) {

   328

        ec_sdo_request_clear(req);

   329

        kfree(req);

   330

        return -1;

   331

    }

   332

   333

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

   334

    return 0;

   335

}

   336

   337

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

   338

   339

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

   340

 *

   341

 * \retval 0 Success.

   342

 * \retval -1 Slave not found.

   343

 * \retval -2 Slave already configured.

   344

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

   345

 */

   346

int ec_slave_config_attach(

   347

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

   348

        )

   349

{

   350

	ec_slave_t *slave;

   351

	unsigned int alias_found = 0, relative_position = 0;

   352

   353

	if (sc->slave)

   354

		return 0; // already attached

   355

   356

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

   357

		if (!alias_found) {

   358

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

   359

				continue;

   360

			alias_found = 1;

   361

			relative_position = 0;

   362

		}

   363

		if (relative_position == sc->position)

   364

			goto found;

   365

		relative_position++;

   366

	}

   367

   368

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

   369

			sc->alias, sc->position);

   370

	return -1;

   371

   372

found:

   373

	if (slave->config) {

   374

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

   375

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

   376

				sc->position, slave->ring_position);

   377

		return -2;

   378

	}

   379

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

   380

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

   381

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

   382

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

   383

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

   384

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

   385

				sc->vendor_id, sc->product_code);

   386

		return -3;

   387

	}

   388

   389

	// attach slave

   390

	slave->config = sc;

   391

	sc->slave = slave;

   392

   393

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   394

   395

	return 0;

   396

}

   397

   398

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

   399

   400

/** Detaches the configuration from a slave object.

   401

 */

   402

void ec_slave_config_detach(

   403

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

   404

        )

   405

{

   406

    if (sc->slave) {

   407

        sc->slave->config = NULL;

   408

        sc->slave = NULL;

   409

    }

   410

}

   411

   412

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

   413

   414

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

   415

 */

   416

void ec_slave_config_load_default_mapping(ec_slave_config_t *sc)

   417

{

   418

    ec_direction_t dir;

   419

    ec_pdo_mapping_t *map;

   420

    ec_sync_t *sync;

   421

   422

    if (!sc->slave)

   423

        return;

   424

   425

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

   426

        map = &sc->mapping[dir];

   427

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

   428

            continue;

   429

        ec_pdo_mapping_copy(map, &sync->mapping);

   430

        map->default_mapping = 1;

   431

    }

   432

}

   433

   434

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

   435

   436

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

   437

 */

   438

void ec_slave_config_load_default_pdo_config(

   439

        const ec_slave_config_t *sc,

   440

        ec_pdo_t *pdo

   441

        )

   442

{

   443

    const ec_sync_t *sync;

   444

    const ec_pdo_t *default_pdo;

   445

   446

    if (sc->master->debug_level)

   447

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

   448

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

   449

   450

    pdo->default_config = 1;

   451

   452

    if (!sc->slave) {

   453

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

   454

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

   455

        return;

   456

    }

   457

   458

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

   459

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

   460

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

   461

        return;

   462

    }

   463

   464

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

   465

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

   466

            continue;

   467

   468

        if (sc->master->debug_level)

   469

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

   470

                    default_pdo->name);

   471

   472

        // try to take Pdo name from mapped one

   473

        ec_pdo_set_name(pdo, default_pdo->name);

   474

   475

        // copy entries (= default Pdo configuration)

   476

        if (ec_pdo_copy_entries(pdo, default_pdo))

   477

            return;

   478

   479

        if (sc->master->debug_level) {

   480

            const ec_pdo_entry_t *entry;

   481

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

   482

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

   483

                        entry->index, entry->subindex);

   484

            }

   485

        }

   486

    }

   487

}

   488

   489

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

   490

 *  Realtime interface

   491

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

   492

   493

int ecrt_slave_config_pdo(ec_slave_config_t *sc, ec_direction_t dir,

   494

        uint16_t index)

   495

{

   496

    ec_pdo_mapping_t *pm = &sc->mapping[dir];

   497

    ec_pdo_t *pdo;

   498

   499

    if (pm->default_mapping) {

   500

        if (sc->master->debug_level)

   501

            EC_DBG("Clearing default mapping for dir %u, config %u:%u.\n",

   502

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

   503

        pm->default_mapping = 0;

   504

        ec_pdo_mapping_clear_pdos(pm);

   505

    }

   506

   507

    if (sc->master->debug_level)

   508

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

   509

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

   510

   511

    if (!(pdo = ec_pdo_mapping_add_pdo(pm, dir, index)))

   512

        return -1;

   513

   514

    ec_slave_config_load_default_pdo_config(sc, pdo);

   515

    return 0;

   516

}

   517

   518

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

   519