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

   155

    INIT_LIST_HEAD(&slave->foe_requests);

   156

    init_waitqueue_head(&slave->foe_queue);

   157

   158

    INIT_LIST_HEAD(&slave->soe_requests);

   159

    init_waitqueue_head(&slave->soe_queue);

   160

   161

    // init state machine datagram

   162

    ec_datagram_init(&slave->fsm_datagram);

   163

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

   164

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

   165

    if (ret < 0) {

   166

        ec_datagram_clear(&slave->fsm_datagram);

   167

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

   168

        return;

   169

    }

   170

   171

    // create state machine object

   172

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

   173

   174

}

   175

   176

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

   177

   178

/**

   179

   Slave destructor.

   180

   Clears and frees a slave object.

   181

*/

   182

   183

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

   184

{

   185

    ec_sdo_t *sdo, *next_sdo;

   186

    unsigned int i;

   187

    ec_pdo_t *pdo, *next_pdo;

   188

   189

    if (slave->config)

   190

        ec_slave_config_detach(slave->config);

   191

   192

    // free all SDOs

   193

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

   194

        list_del(&sdo->list);

   195

        ec_sdo_clear(sdo);

   196

        kfree(sdo);

   197

    }

   198

   199

    // free all strings

   200

    if (slave->sii.strings) {

   201

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

   202

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

   203

        kfree(slave->sii.strings);

   204

    }

   205

   206

    // free all sync managers

   207

    ec_slave_clear_sync_managers(slave);

   208

   209

    // free all SII PDOs

   210

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

   211

        list_del(&pdo->list);

   212

        ec_pdo_clear(pdo);

   213

        kfree(pdo);

   214

    }

   215

   216

    if (slave->sii_words)

   217

        kfree(slave->sii_words);

   218

    ec_fsm_slave_clear(&slave->fsm);

   219

    ec_datagram_clear(&slave->fsm_datagram);

   220

   221

}

   222

   223

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

   224

   225

/** Clear the sync manager array. 

   226

 */

   227

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

   228

{

   229

    unsigned int i;

   230

   231

    if (slave->sii.syncs) {

   232

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

   233

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

   234

        }

   235

        kfree(slave->sii.syncs);

   236

        slave->sii.syncs = NULL;

   237

    }

   238

}

   239

   240

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

   241

   242

/**

   243

 * Sets the application state of a slave.

   244

 */

   245

   246

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

   247

        ec_slave_state_t new_state /**< new application state */

   248

        )

   249

{

   250

    if (new_state != slave->current_state) {

   251

        if (slave->master->debug_level) {

   252

            char old_state[EC_STATE_STRING_SIZE],

   253

                cur_state[EC_STATE_STRING_SIZE];

   254

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

   255

            ec_state_string(new_state, cur_state, 0);

   256

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

   257

                   slave->ring_position, old_state, cur_state);

   258

        }

   259

        slave->current_state = new_state;

   260

    }

   261

}

   262

   263

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

   264

   265

/**

   266

 * Request a slave state and resets the error flag.

   267

 */

   268

   269

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

   270

                            ec_slave_state_t state /**< new state */

   271

                            )

   272

{

   273

    slave->requested_state = state;

   274

    slave->error_flag = 0;

   275

}

   276

   277

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

   278

   279

/**

   280

   Fetches data from a STRING category.

   281

   \todo range checking

   282

   \return 0 in case of success, else < 0

   283

*/

   284

   285

int ec_slave_fetch_sii_strings(

   286

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

   287

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

   288

        size_t data_size /**< number of bytes */

   289

        )

   290

{

   291

    int i, err;

   292

    size_t size;

   293

    off_t offset;

   294

   295

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

   296

   297

    if (slave->sii.string_count) {

   298

        if (!(slave->sii.strings =

   299

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

   300

                        GFP_KERNEL))) {

   301

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

   302

            err = -ENOMEM;

   303

            goto out_zero;

   304

        }

   305

   306

        offset = 1;

   307

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

   308

            size = data[offset];

   309

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

   310

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

   311

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

   312

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

   313

                err = -ENOMEM;

   314

                goto out_free;

   315

            }

   316

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

   317

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

   318

            offset += 1 + size;

   319

        }

   320

    }

   321

   322

    return 0;

   323

   324

out_free:

   325

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

   326

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

   327

    kfree(slave->sii.strings);

   328

    slave->sii.strings = NULL;

   329

out_zero:

   330

    slave->sii.string_count = 0;

   331

    return err;

   332

}

   333

   334

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

   335

   336

/**

   337

   Fetches data from a GENERAL category.

   338

   \return 0 in case of success, else < 0

   339

*/

   340

   341

int ec_slave_fetch_sii_general(

   342

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

   343

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

   344

        size_t data_size /**< size in bytes */

   345

        )

   346

{

   347

    unsigned int i;

   348

    uint8_t flags;

   349

   350

    if (data_size != 32) {

   351

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

   352

                data_size, slave->ring_position);

   353

        return -EINVAL;

   354

    }

   355

   356

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

   357

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

   358

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

   359

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

   360

   361

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

   362

        slave->sii.physical_layer[i] =

   363

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

   364

   365

    // read CoE details

   366

    flags = EC_READ_U8(data + 5);

   367

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

   368

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

   369

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

   370

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

   371

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

   372

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

   373

   374

    // read general flags

   375

    flags = EC_READ_U8(data + 0x000B);

   376

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

   377

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

   378

   379

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

   380

    slave->sii.has_general = 1;

   381

    return 0;

   382

}

   383

   384

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

   385

   386

/** Fetches data from a SYNC MANAGER category.

   387

 *

   388

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

   389

 *

   390

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

   391

 */

   392

int ec_slave_fetch_sii_syncs(

   393

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

   394

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

   395

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

   396

        )

   397

{

   398

    unsigned int i, count, total_count;

   399

    ec_sync_t *sync;

   400

    size_t memsize;

   401

    ec_sync_t *syncs;

   402

    uint8_t index;

   403

   404

    // one sync manager struct is 4 words long

   405

    if (data_size % 8) {

   406

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

   407

                data_size, slave->ring_position);

   408

        return -EINVAL;

   409

    }

   410

   411

    count = data_size / 8;

   412

   413

    if (count) {

   414

        total_count = count + slave->sii.sync_count;

   415

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   416

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

   417

            return -EOVERFLOW;

   418

        }

   419

        memsize = sizeof(ec_sync_t) * total_count;

   420

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

   421

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

   422

                    memsize);

   423

            return -ENOMEM;

   424

        }

   425

   426

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

   427

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

   428

   429

        // initialize new sync managers

   430

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

   431

            index = i + slave->sii.sync_count;

   432

            sync = &syncs[index];

   433

   434

            ec_sync_init(sync, slave);

   435

            sync->physical_start_address = EC_READ_U16(data);

   436

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

   437

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

   438

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

   439

        }

   440

   441

        if (slave->sii.syncs)

   442

            kfree(slave->sii.syncs);

   443

        slave->sii.syncs = syncs;

   444

        slave->sii.sync_count = total_count;

   445

    }

   446

   447

    return 0;

   448

}

   449

   450

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

   451

   452

/**

   453

   Fetches data from a [RT]xPDO category.

   454

   \return 0 in case of success, else < 0

   455

*/

   456

   457

int ec_slave_fetch_sii_pdos(

   458

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

   459

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

   460

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

   461

        ec_direction_t dir /**< PDO direction. */

   462

        )

   463

{

   464

    int ret;

   465

    ec_pdo_t *pdo;

   466

    ec_pdo_entry_t *entry;

   467

    unsigned int entry_count, i;

   468

   469

    while (data_size >= 8) {

   470

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

   471

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

   472

            return -ENOMEM;

   473

        }

   474

   475

        ec_pdo_init(pdo);

   476

        pdo->index = EC_READ_U16(data);

   477

        entry_count = EC_READ_U8(data + 2);

   478

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

   479

        ret = ec_pdo_set_name(pdo,

   480

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

   481

        if (ret) {

   482

            ec_pdo_clear(pdo);

   483

            kfree(pdo);

   484

            return ret;