1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

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

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/delay.h>

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

    45

#include "slave.h"

    46

    47

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

    48

    49

extern const ec_code_msg_t al_status_messages[];

    50

    51

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

    52

    53

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    54

    55

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

    56

    57

/**

    58

   Slave constructor.

    59

   \return 0 in case of success, else < 0

    60

*/

    61

    62

void ec_slave_init(

    63

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

    64

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

    65

        uint16_t ring_position, /**< ring position */

    66

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

    67

        )

    68

{

    69

    unsigned int i;

    70

    int ret;

    71

    72

    slave->master = master;

    73

    slave->ring_position = ring_position;

    74

    slave->station_address = station_address;

    75

    76

    slave->config = NULL;

    77

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    78

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    79

    slave->error_flag = 0;

    80

    slave->force_config = 0;

    81

    slave->configured_rx_mailbox_offset = 0x0000;

    82

    slave->configured_rx_mailbox_size = 0x0000;

    83

    slave->configured_tx_mailbox_offset = 0x0000;

    84

    slave->configured_tx_mailbox_size = 0x0000;

    85

    86

    slave->base_type = 0;

    87

    slave->base_revision = 0;

    88

    slave->base_build = 0;

    89

    slave->base_fmmu_count = 0;

    90

    slave->base_sync_count = 0;

    91

    92

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

    93

        slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;

    94

    95

        slave->ports[i].link.link_up = 0;

    96

        slave->ports[i].link.loop_closed = 0;

    97

        slave->ports[i].link.signal_detected = 0;

    98

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

    99

   100

        slave->ports[i].receive_time = 0U;

   101

   102

        slave->ports[i].next_slave = NULL;

   103

        slave->ports[i].delay_to_next_dc = 0U;

   104

    }

   105

   106

    slave->base_fmmu_bit_operation = 0;

   107

    slave->base_dc_supported = 0;

   108

    slave->base_dc_range = EC_DC_32;

   109

    slave->has_dc_system_time = 0;

   110

    slave->transmission_delay = 0U;

   111

   112

    slave->sii_words = NULL;

   113

    slave->sii_nwords = 0;

   114

   115

    slave->sii.alias = 0x0000;

   116

    slave->sii.vendor_id = 0x00000000;

   117

    slave->sii.product_code = 0x00000000;

   118

    slave->sii.revision_number = 0x00000000;

   119

    slave->sii.serial_number = 0x00000000;

   120

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   121

    slave->sii.boot_rx_mailbox_size = 0x0000;

   122

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   123

    slave->sii.boot_tx_mailbox_size = 0x0000;

   124

    slave->sii.std_rx_mailbox_offset = 0x0000;

   125

    slave->sii.std_rx_mailbox_size = 0x0000;

   126

    slave->sii.std_tx_mailbox_offset = 0x0000;

   127

    slave->sii.std_tx_mailbox_size = 0x0000;

   128

    slave->sii.mailbox_protocols = 0;

   129

   130

    slave->sii.strings = NULL;

   131

    slave->sii.string_count = 0;

   132

   133

    slave->sii.has_general = 0;

   134

    slave->sii.group = NULL;

   135

    slave->sii.image = NULL;

   136

    slave->sii.order = NULL;

   137

    slave->sii.name = NULL;

   138

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

   139

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

   140

    slave->sii.current_on_ebus = 0;

   141

   142

    slave->sii.syncs = NULL;

   143

    slave->sii.sync_count = 0;

   144

   145

    INIT_LIST_HEAD(&slave->sii.pdos);

   146

   147

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   148

   149

    slave->sdo_dictionary_fetched = 0;

   150

    slave->jiffies_preop = 0;

   151

   152

    INIT_LIST_HEAD(&slave->slave_sdo_requests);

   153

    init_waitqueue_head(&slave->sdo_queue);

   154

   158

    // init state machine datagram

   159

    ec_datagram_init(&slave->fsm_datagram);

   160

    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "slave%u-fsm",slave->ring_position);

   161

    ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);

   162

    if (ret < 0) {

   163

        ec_datagram_clear(&slave->fsm_datagram);

   164

        EC_ERR("Failed to allocate Slave %u FSM datagram.\n",slave->ring_position);

   165

        return;

   166

    }

   167

   168

    // create state machine object

   169

    ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);

   170

   171

}

   172

   173

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

   174

   175

/**

   176

   Slave destructor.

   177

   Clears and frees a slave object.

   178

*/

   179

   180

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

   181

{

   182

    ec_sdo_t *sdo, *next_sdo;

   183

    unsigned int i;

   184

    ec_pdo_t *pdo, *next_pdo;

   185

   186

    if (slave->config)

   187

        ec_slave_config_detach(slave->config);

   188

   189

    // free all SDOs

   190

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

   191

        list_del(&sdo->list);

   192

        ec_sdo_clear(sdo);

   193

        kfree(sdo);

   194

    }

   195

   196

    // free all strings

   197

    if (slave->sii.strings) {

   198

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

   199

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

   200

        kfree(slave->sii.strings);

   201

    }

   202

   203

    // free all sync managers

   204

    ec_slave_clear_sync_managers(slave);

   205

   206

    // free all SII PDOs

   207

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

   208

        list_del(&pdo->list);

   209

        ec_pdo_clear(pdo);

   210

        kfree(pdo);

   211

    }

   212

   213

    if (slave->sii_words)

   214

        kfree(slave->sii_words);

   215

    ec_fsm_slave_clear(&slave->fsm);

   216

    ec_datagram_clear(&slave->fsm_datagram);

   217

   218

}

   219

   220

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

   221

   222

/** Clear the sync manager array. 

   223

 */

   224

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

   225

{

   226

    unsigned int i;

   227

   228

    if (slave->sii.syncs) {

   229

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

   230

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

   231

        }

   232

        kfree(slave->sii.syncs);

   233

        slave->sii.syncs = NULL;

   234

    }

   235

}

   236

   237

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

   238

   239

/**

   240

 * Sets the application state of a slave.

   241

 */

   242

   243

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

   244

        ec_slave_state_t new_state /**< new application state */

   245

        )

   246

{

   247

    if (new_state != slave->current_state) {

   248

        if (slave->master->debug_level) {

   249

            char old_state[EC_STATE_STRING_SIZE],

   250

                cur_state[EC_STATE_STRING_SIZE];

   251

            ec_state_string(slave->current_state, old_state, 0);

   252

            ec_state_string(new_state, cur_state, 0);

   253

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

   254

                   slave->ring_position, old_state, cur_state);

   255

        }

   256

        slave->current_state = new_state;

   257

    }

   258

}

   259

   260

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

   261

   262

/**

   263

 * Request a slave state and resets the error flag.

   264

 */

   265

   266

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

   267

                            ec_slave_state_t state /**< new state */

   268

                            )

   269

{

   270

    slave->requested_state = state;

   271

    slave->error_flag = 0;

   272

}

   273

   274

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

   275

   276

/**

   277

   Fetches data from a STRING category.

   278

   \todo range checking

   279

   \return 0 in case of success, else < 0

   280

*/

   281

   282

int ec_slave_fetch_sii_strings(

   283

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

   284

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

   285

        size_t data_size /**< number of bytes */

   286

        )

   287

{

   288

    int i, err;

   289

    size_t size;

   290

    off_t offset;

   291

   292

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

   293

   294

    if (slave->sii.string_count) {

   295

        if (!(slave->sii.strings =

   296

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

   297

                        GFP_KERNEL))) {

   298

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

   299

            err = -ENOMEM;

   300

            goto out_zero;

   301

        }

   302

   303

        offset = 1;

   304

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

   305

            size = data[offset];

   306

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

   307

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

   308

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

   309

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

   310

                err = -ENOMEM;

   311

                goto out_free;

   312

            }

   313

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

   314

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

   315

            offset += 1 + size;

   316

        }

   317

    }

   318

   319

    return 0;

   320

   321

out_free:

   322

    for (i--; i >= 0; i--)

   323

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

   324

    kfree(slave->sii.strings);

   325

    slave->sii.strings = NULL;

   326

out_zero:

   327

    slave->sii.string_count = 0;

   328

    return err;

   329

}

   330

   331

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

   332

   333

/**

   334

   Fetches data from a GENERAL category.

   335

   \return 0 in case of success, else < 0

   336

*/

   337

   338

int ec_slave_fetch_sii_general(

   339

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

   340

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

   341

        size_t data_size /**< size in bytes */

   342

        )

   343

{

   344

    unsigned int i;

   345

    uint8_t flags;

   346

   347

    if (data_size != 32) {

   348

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

   349

                data_size, slave->ring_position);

   350

        return -EINVAL;

   351

    }

   352

   353

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

   354

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

   355

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

   356

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

   357

   358

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

   359

        slave->sii.physical_layer[i] =

   360

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

   361

   362

    // read CoE details

   363

    flags = EC_READ_U8(data + 5);

   364

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

   365

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

   366

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

   367

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

   368

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

   369

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

   370

   371

    // read general flags

   372

    flags = EC_READ_U8(data + 0x000B);

   373

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

   374

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

   375

   376

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

   377

    slave->sii.has_general = 1;

   378

    return 0;

   379

}

   380

   381

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

   382

   383

/** Fetches data from a SYNC MANAGER category.

   384

 *

   385

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

   386

 *

   387

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

   388

 */

   389

int ec_slave_fetch_sii_syncs(

   390

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

   391

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

   392

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

   393

        )

   394

{

   395

    unsigned int i, count, total_count;

   396

    ec_sync_t *sync;

   397

    size_t memsize;

   398

    ec_sync_t *syncs;

   399

    uint8_t index;

   400

   401

    // one sync manager struct is 4 words long

   402

    if (data_size % 8) {

   403

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

   404

                data_size, slave->ring_position);

   405

        return -EINVAL;

   406

    }

   407

   408

    count = data_size / 8;

   409

   410

    if (count) {

   411

        total_count = count + slave->sii.sync_count;

   412

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   413

            EC_ERR("Exceeded maximum number of sync managers!\n");

   414

            return -EOVERFLOW;

   415

        }

   416

        memsize = sizeof(ec_sync_t) * total_count;

   417

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

   418

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

   419

                    memsize);

   420

            return -ENOMEM;

   421

        }

   422

   423

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

   424

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

   425

   426

        // initialize new sync managers

   427

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

   428

            index = i + slave->sii.sync_count;

   429

            sync = &syncs[index];

   430

   431

            ec_sync_init(sync, slave);

   432

            sync->physical_start_address = EC_READ_U16(data);

   433

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

   434

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

   435

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

   436

        }

   437

   438

        if (slave->sii.syncs)

   439

            kfree(slave->sii.syncs);

   440

        slave->sii.syncs = syncs;

   441

        slave->sii.sync_count = total_count;

   442

    }

   443

   444

    return 0;

   445

}

   446

   447

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

   448

   449

/**

   450

   Fetches data from a [RT]xPDO category.

   451

   \return 0 in case of success, else < 0

   452

*/

   453

   454

int ec_slave_fetch_sii_pdos(

   455

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

   456

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

   457

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

   458

        ec_direction_t dir /**< PDO direction. */

   459

        )

   460

{

   461

    int ret;

   462

    ec_pdo_t *pdo;

   463

    ec_pdo_entry_t *entry;

   464

    unsigned int entry_count, i;

   465

   466

    while (data_size >= 8) {

   467

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

   468

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

   469

            return -ENOMEM;

   470

        }

   471

   472

        ec_pdo_init(pdo);

   473

        pdo->index = EC_READ_U16(data);

   474

        entry_count = EC_READ_U8(data + 2);

   475

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

   476

        ret = ec_pdo_set_name(pdo,

   477

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

   478

        if (ret) {

   479

            ec_pdo_clear(pdo);

   480

            kfree(pdo);

   481

            return ret;

   482

        }

   483

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

   484