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

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 *

     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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 *

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 *  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

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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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 *

    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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 *

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

    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 "slave.h"

    46

#include "command.h"

    47

#include "master.h"

    48

    49

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

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

int ec_slave_fetch_categories(ec_slave_t *);

    56

ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);

    57

ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

    58

                                 const char *, size_t);

    59

    60

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

    61

    62

/** \cond */

    63

    64

EC_SYSFS_READ_ATTR(ring_position);

    65

EC_SYSFS_READ_ATTR(coupler_address);

    66

EC_SYSFS_READ_ATTR(vendor_name);

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EC_SYSFS_READ_ATTR(product_name);

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EC_SYSFS_READ_ATTR(product_desc);

    69

EC_SYSFS_READ_ATTR(sii_desc);

    70

EC_SYSFS_READ_ATTR(type);

    71

EC_SYSFS_READ_WRITE_ATTR(state);

    72

    73

static struct attribute *def_attrs[] = {

    74

    &attr_ring_position,

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    &attr_coupler_address,

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    &attr_vendor_name,

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    &attr_product_name,

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    &attr_product_desc,

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    &attr_sii_desc,

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    &attr_type,

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    &attr_state,

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    NULL,

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};

    84

    85

static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_attribute,

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    .store = ec_store_slave_attribute

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};

    89

    90

static struct kobj_type ktype_ec_slave = {

    91

    .release = ec_slave_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

    94

};

    95

    96

/** \endcond */

    97

    98

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

    99

   100

/**

   101

   Slave constructor.

   102

   \return 0 in case of success, else < 0

   103

*/

   104

   105

int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */

   106

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

   107

                  uint16_t ring_position, /**< ring position */

   108

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

   109

                  )

   110

{

   111

    unsigned int i;

   112

   113

    slave->ring_position = ring_position;

   114

    slave->station_address = station_address;

   115

   116

    // init kobject and add it to the hierarchy

   117

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

   118

    kobject_init(&slave->kobj);

   119

    slave->kobj.ktype = &ktype_ec_slave;

   120

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

   121

    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

   122

        EC_ERR("Failed to set kobject name.\n");

   123

        kobject_put(&slave->kobj);

   124

        return -1;

   125

    }

   126

   127

    slave->master = master;

   128

    slave->coupler_index = 0;

   129

    slave->coupler_subindex = 0xFFFF;

   130

    slave->base_type = 0;

   131

    slave->base_revision = 0;

   132

    slave->base_build = 0;

   133

    slave->base_fmmu_count = 0;

   134

    slave->base_sync_count = 0;

   135

    slave->sii_alias = 0;

   136

    slave->sii_vendor_id = 0;

   137

    slave->sii_product_code = 0;

   138

    slave->sii_revision_number = 0;

   139

    slave->sii_serial_number = 0;

   140

    slave->sii_rx_mailbox_offset = 0;

   141

    slave->sii_rx_mailbox_size = 0;

   142

    slave->sii_tx_mailbox_offset = 0;

   143

    slave->sii_tx_mailbox_size = 0;

   144

    slave->sii_mailbox_protocols = 0;

   145

    slave->type = NULL;

   146

    slave->registered = 0;

   147

    slave->fmmu_count = 0;

   148

    slave->eeprom_name = NULL;

   149

    slave->eeprom_group = NULL;

   150

    slave->eeprom_desc = NULL;

   151

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

   152

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   153

    slave->state_error = 0;

   154

    slave->online = 1;

   155

   156

    ec_command_init(&slave->mbox_command);

   157

   158

    INIT_LIST_HEAD(&slave->eeprom_strings);

   159

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   160

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   161

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   162

   163

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

   164

        slave->dl_link[i] = 0;

   165

        slave->dl_loop[i] = 0;

   166

        slave->dl_signal[i] = 0;

   167

        slave->sii_physical_layer[i] = 0xFF;

   168

    }

   169

   170

    return 0;

   171

}

   172

   173

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

   174

   175

/**

   176

   Slave destructor.

   177

*/

   178

   179

void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

   180

{

   181

    ec_slave_t *slave;

   182

    ec_eeprom_string_t *string, *next_str;

   183

    ec_eeprom_sync_t *sync, *next_sync;

   184

    ec_eeprom_pdo_t *pdo, *next_pdo;

   185

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   186

    ec_sdo_t *sdo, *next_sdo;

   187

    ec_sdo_entry_t *en, *next_en;

   188

   189

    slave = container_of(kobj, ec_slave_t, kobj);

   190

   191

    // free all string objects

   192

    list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {

   193

        list_del(&string->list);

   194

        kfree(string);

   195

    }

   196

   197

    // free all sync managers

   198

    list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {

   199

        list_del(&sync->list);

   200

        kfree(sync);

   201

    }

   202

   203

    // free all PDOs

   204

    list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {

   205

        list_del(&pdo->list);

   206

        if (pdo->name) kfree(pdo->name);

   207

   208

        // free all PDO entries

   209

        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

   210

            list_del(&entry->list);

   211

            if (entry->name) kfree(entry->name);

   212

            kfree(entry);

   213

        }

   214

   215

        kfree(pdo);

   216

    }

   217

   218

    if (slave->eeprom_name) kfree(slave->eeprom_name);

   219

    if (slave->eeprom_group) kfree(slave->eeprom_group);

   220

    if (slave->eeprom_desc) kfree(slave->eeprom_desc);

   221

   222

    // free all SDOs

   223

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

   224

        list_del(&sdo->list);

   225

        if (sdo->name) kfree(sdo->name);

   226

   227

        // free all SDO entries

   228

        list_for_each_entry_safe(en, next_en, &sdo->entries, list) {

   229

            list_del(&en->list);

   230

            kfree(en);

   231

        }

   232

        kfree(sdo);

   233

    }

   234

   235

    ec_command_clear(&slave->mbox_command);

   236

}

   237

   238

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

   239

   240

/**

   241

   Reads all necessary information from a slave.

   242

   \return 0 in case of success, else < 0

   243

*/

   244

   245

int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT slave */)

   246

{

   247

    ec_command_t *command;

   248

    unsigned int i;

   249

    uint16_t dl_status;

   250

   251

    command = &slave->master->simple_command;

   252

   253

    // read base data

   254

    if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;

   255

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   256

        EC_ERR("Reading base data from slave %i failed!\n",

   257

               slave->ring_position);

   258

        return -1;

   259

    }

   260

   261

    slave->base_type =       EC_READ_U8 (command->data);

   262

    slave->base_revision =   EC_READ_U8 (command->data + 1);

   263

    slave->base_build =      EC_READ_U16(command->data + 2);

   264

    slave->base_fmmu_count = EC_READ_U8 (command->data + 4);

   265

    slave->base_sync_count = EC_READ_U8 (command->data + 5);

   266

   267

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   268

        slave->base_fmmu_count = EC_MAX_FMMUS;

   269

   270

    // read data link status

   271

    if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;

   272

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   273

        EC_ERR("Reading DL status from slave %i failed!\n",

   274

               slave->ring_position);

   275

        return -1;

   276

    }

   277

   278

    dl_status = EC_READ_U16(command->data);

   279

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

   280

        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;

   281

        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;

   282

        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;

   283

    }

   284

   285

    // read EEPROM data

   286

    if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))

   287

        return -1;

   288

    if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))

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        return -1;

   290

    if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))

   291

        return -1;

   292

    if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))

   293

        return -1;

   294

    if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))

   295

        return -1;

   296

    if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))

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        return -1;

   298

    if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))

   299

        return -1;

   300

    if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))

   301

        return -1;

   302

    if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))

   303

        return -1;

   304

    if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))

   305

        return -1;

   306

   307

    if (unlikely(ec_slave_fetch_categories(slave))) {

   308

        EC_ERR("Failed to fetch category data!\n");

   309

        return -1;

   310

    }

   311

   312

    return 0;

   313

}

   314

   315

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

   316

   317

/**

   318

   Reads 16 bit from the slave information interface (SII).

   319

   \return 0 in case of success, else < 0

   320

*/

   321

   322

int ec_slave_sii_read16(ec_slave_t *slave,

   323

                        /**< EtherCAT slave */

   324

                        uint16_t offset,

   325

                        /**< address of the SII register to read */

   326

                        uint16_t *target

   327

                        /**< target memory */

   328

                        )

   329

{

   330

    ec_command_t *command;

   331

    cycles_t start, end, timeout;

   332

   333

    command = &slave->master->simple_command;

   334

   335

    // initiate read operation

   336

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   337

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   338

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   339

    EC_WRITE_U32(command->data + 2, offset);

   340

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   341

        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

   342

        return -1;

   343

    }

   344

   345

    start = get_cycles();

   346

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   347

   348

    while (1)

   349

    {

   350

        udelay(10);

   351

   352

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   353

            return -1;

   354

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   355

            EC_ERR("Getting SII-read status failed on slave %i!\n",

   356

                   slave->ring_position);

   357

            return -1;

   358

        }

   359

   360

        end = get_cycles();

   361

   362

        // check for "busy bit"

   363

        if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {

   364

            *target = EC_READ_U16(command->data + 6);

   365

            return 0;

   366

        }

   367

   368

        if (unlikely((end - start) >= timeout)) {

   369

            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);

   370

            return -1;

   371

        }

   372

    }

   373

}

   374

   375

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

   376

   377

/**

   378

   Reads 32 bit from the slave information interface (SII).

   379

   \return 0 in case of success, else < 0

   380

*/

   381

   382

int ec_slave_sii_read32(ec_slave_t *slave,

   383

                        /**< EtherCAT slave */

   384

                        uint16_t offset,

   385

                        /**< address of the SII register to read */

   386

                        uint32_t *target

   387

                        /**< target memory */

   388

                        )

   389

{

   390

    ec_command_t *command;

   391

    cycles_t start, end, timeout;

   392

   393

    command = &slave->master->simple_command;

   394

   395

    // initiate read operation

   396

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   397

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   398

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   399

    EC_WRITE_U32(command->data + 2, offset);

   400

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   401

        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

   402

        return -1;

   403

    }

   404

   405

    start = get_cycles();

   406

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   407

   408

    while (1)

   409

    {

   410

        udelay(10);

   411

   412

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   413

            return -1;

   414

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   415

            EC_ERR("Getting SII-read status failed on slave %i!\n",

   416

                   slave->ring_position);

   417

            return -1;

   418

        }

   419

   420

        end = get_cycles();

   421

   422

        // check "busy bit"

   423

        if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {

   424

            *target = EC_READ_U32(command->data + 6);

   425

            return 0;

   426

        }

   427

   428

        if (unlikely((end - start) >= timeout)) {

   429

            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);

   430

            return -1;

   431

        }

   432

    }

   433

}

   434

   435

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

   436

   437

/**

   438

   Writes 16 bit of data to the slave information interface (SII).

   439

   \return 0 in case of success, else < 0

   440

*/

   441

   442

int ec_slave_sii_write16(ec_slave_t *slave,

   443

                         /**< EtherCAT slave */

   444

                         uint16_t offset,

   445

                         /**< address of the SII register to write */

   446

                         uint16_t value

   447

                         /**< new value */

   448

                         )

   449

{

   450

    ec_command_t *command;

   451

    cycles_t start, end, timeout;

   452

   453

    command = &slave->master->simple_command;

   454

   455

    EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",

   456

            slave->ring_position, offset, value);

   457

   458

    // initiate write operation

   459

    if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;

   460

    EC_WRITE_U8 (command->data,     0x01); // enable write access

   461

    EC_WRITE_U8 (command->data + 1, 0x02); // request write operation

   462

    EC_WRITE_U32(command->data + 2, offset);

   463

    EC_WRITE_U16(command->data + 6, value);

   464

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   465

        EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);

   466

        return -1;

   467

    }

   468

   469

    start = get_cycles();

   470

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   471

   472

    while (1)

   473

    {

   474

        udelay(10);

   475

   476

        if (ec_command_nprd(command, slave->station_address, 0x502, 2))

   477

            return -1;

   478

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   479

            EC_ERR("Getting SII-write status failed on slave %i!\n",

   480

                   slave->ring_position);

   481

            return -1;

   482

        }

   483

   484

        end = get_cycles();