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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

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

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 *  published by the Free Software Foundation.

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 *

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

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

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

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 *  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 along

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 *  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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 *

    22

 *  ---

    23

 *

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

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave configuration methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/slab.h>

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    39

#include "globals.h"

    40

#include "master.h"

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#include "voe_handler.h"

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#include "slave_config.h"

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    45

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

    46

    47

/** Slave configuration constructor.

    48

 *

    49

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

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 * position parameters.

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 */

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void ec_slave_config_init(

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        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. */

    57

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

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

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        )

    60

{

    61

    unsigned int i;

    62

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    sc->master = master;

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    65

    sc->alias = alias;

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    sc->position = position;

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    sc->vendor_id = vendor_id;

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    sc->product_code = product_code;

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    sc->watchdog_divider = 0; // use default

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    sc->watchdog_intervals = 0; // use default

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    72

    sc->slave = NULL;

    73

    74

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

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        ec_sync_config_init(&sc->sync_configs[i]);

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    77

    sc->used_fmmus = 0;

    78

    sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;

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    sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;

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    sc->dc_assign_activate = 0x0000;

    81

    sc->dc_sync[0].cycle_time = 0x00000000;

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    sc->dc_sync[1].cycle_time = 0x00000000;

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    sc->dc_sync[0].shift_time = 0x00000000;

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    sc->dc_sync[1].shift_time = 0x00000000;

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    86

    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    INIT_LIST_HEAD(&sc->voe_handlers);

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}

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    91

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

    92

    93

/** Slave configuration destructor.

    94

 *

    95

 * Clears and frees a slave configuration object.

    96

 */

    97

void ec_slave_config_clear(

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

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        )

   100

{

   101

    unsigned int i;

   102

    ec_sdo_request_t *req, *next_req;

   103

    ec_voe_handler_t *voe, *next_voe;

   104

   105

    ec_slave_config_detach(sc);

   106

   107

    // Free sync managers

   108

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

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        ec_sync_config_clear(&sc->sync_configs[i]);

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   111

    // free all SDO configurations

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

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

   116

    }

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   118

    // free all SDO requests

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

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // free all VoE handlers

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    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {

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        list_del(&voe->list);

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        ec_voe_handler_clear(voe);

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        kfree(voe);

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    }

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}

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   133

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

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   135

/** 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 does nothing and

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 * returns with success.

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 *

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 * \retval >=0 Success, logical offset byte address.

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 * \retval  <0 Error code.

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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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        uint8_t sync_index, /**< Sync manager index. */

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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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   157

    // 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->sync_index == sync_index)

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            return fmmu->logical_start_address;

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    }

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    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 -EOVERFLOW;

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    }

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

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    down(&sc->master->master_sem);

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    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);

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    up(&sc->master->master_sem);

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    return fmmu->logical_start_address;

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}

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   179

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

   180

   181

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

   182

 *

   183

 * \retval  0 Success.

   184

 * \retval <0 Error code.

   185

 */

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int ec_slave_config_attach(

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

   188

        )

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{

   190

    ec_slave_t *slave;

   191

   192

    if (sc->slave)

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        return 0; // already attached

   194

   195

    if (!(slave = ec_master_find_slave(

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                    sc->master, sc->alias, sc->position))) {

   197

        if (sc->master->debug_level)

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

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                    sc->alias, sc->position);

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        return -ENOENT;

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    }

   202

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    if (slave->config) {

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        if (sc->master->debug_level)

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

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

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                    sc->position, slave->ring_position);

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        return -EEXIST;

   209

    }

   210

   211

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

   212

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

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        if (sc->master->debug_level)

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

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

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

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

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                    sc->vendor_id, sc->product_code);

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        return -EINVAL;

   220

    }

   221

   222

    // attach slave

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    slave->config = sc;

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    sc->slave = slave;

   225

   226

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   227

   228

    if (sc->master->debug_level)

   229

        EC_DBG("Attached slave %u to config %u:%u.\n",

   230

                slave->ring_position, sc->alias, sc->position);

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   232

    return 0;

   233

}

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

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   237

/** Detaches the configuration from a slave object.

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 */

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void ec_slave_config_detach(

   240

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

   241

        )

   242

{

   243

    if (sc->slave) {

   244

        sc->slave->config = NULL;

   245

        sc->slave = NULL;

   246

    }

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}

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   249

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

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   251

/** Loads the default PDO assignment from the slave object.

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 */

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void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

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{

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    uint8_t sync_index;

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    ec_sync_config_t *sync_config;

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    const ec_sync_t *sync;

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   259

    if (!sc->slave)

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        return;

   261

   262

    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {

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        sync_config = &sc->sync_configs[sync_index];

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        if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {

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            sync_config->dir = ec_sync_default_direction(sync);

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            if (sync_config->dir == EC_DIR_INVALID)

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                EC_WARN("SM%u of slave %u has an invalid direction field!\n",

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                        sync_index, sc->slave->ring_position);

   269

            ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);

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        }

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    }

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}

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   274

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

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/** Loads the default mapping for a PDO from the slave object.

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 */

   278

void ec_slave_config_load_default_mapping(

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        const ec_slave_config_t *sc,

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        ec_pdo_t *pdo

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        )

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{

   283

    unsigned int i;

   284

    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

   286

   287

    if (!sc->slave)

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        return;

   289

   290

    if (sc->master->debug_level)

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        EC_DBG("Loading default mapping for PDO 0x%04X in config %u:%u.\n",

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

   293

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    // find PDO in any sync manager (it could be reassigned later)

   295

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

   296

        sync = &sc->slave->sii.syncs[i];

   297

   298

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

   299

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

   300

                continue;

   301

   302

            if (default_pdo->name) {

   303

                if (sc->master->debug_level)

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                    EC_DBG("Found PDO name \"%s\".\n", default_pdo->name);

   305

   306

                // take PDO name from assigned one

   307

                ec_pdo_set_name(pdo, default_pdo->name);

   308

            }

   309

   310

            // copy entries (= default PDO mapping)

   311

            if (ec_pdo_copy_entries(pdo, default_pdo))

   312

                return;

   313

   314

            if (sc->master->debug_level) {

   315

                const ec_pdo_entry_t *entry;

   316

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

   317

                    EC_DBG("Entry 0x%04X:%02X.\n",

   318

                            entry->index, entry->subindex);

   319

                }

   320

            }

   321

   322

            return;

   323

        }

   324

    }

   325

   326

    if (sc->master->debug_level)

   327

        EC_DBG("No default mapping found.\n");

   328

}

   329

   330

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

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   332

/** Get the number of SDO configurations.

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 *

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 * \return Number of SDO configurations.

   335

 */

   336

unsigned int ec_slave_config_sdo_count(

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

   338

        )

   339

{

   340

    const ec_sdo_request_t *req;

   341

    unsigned int count = 0;

   342

   343

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

   344

        count++;

   345

    }

   346

   347

    return count;

   348

}

   349

   350

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

   351

   352

/** Finds an SDO configuration via its position in the list.

   353

 *

   354

 * Const version.

   355

 */

   356

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   357

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

   358

        unsigned int pos /**< Position in the list. */

   359

        )

   360

{

   361

    const ec_sdo_request_t *req;

   362

   363

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

   364

        if (pos--)

   365

            continue;

   366

        return req;

   367

    }

   368

   369

    return NULL;

   370

}

   371

   372

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

   373

   374

/** Finds a VoE handler via its position in the list.

   375

 */

   376

ec_sdo_request_t *ec_slave_config_find_sdo_request(

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

   378

        unsigned int pos /**< Position in the list. */

   379

        )

   380

{

   381

    ec_sdo_request_t *req;

   382

   383

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

   384

        if (pos--)

   385

            continue;

   386

        return req;

   387

    }

   388

   389

    return NULL;

   390

}

   391

   392

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

   393

   394

/** Finds a VoE handler via its position in the list.

   395

 */

   396

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   397

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

   398

        unsigned int pos /**< Position in the list. */

   399

        )

   400

{

   401

    ec_voe_handler_t *voe;

   402

   403

    list_for_each_entry(voe, &sc->voe_handlers, list) {

   404

        if (pos--)

   405

            continue;

   406

        return voe;

   407

    }

   408

   409

    return NULL;

   410

}

   411

   412

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

   413

 *  Application interface

   414

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

   415

   416

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   417

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   418

{

   419

    ec_sync_config_t *sync_config;

   420

   421

    if (sc->master->debug_level)

   422

        EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%p, sync_index = %u, "

   423

                "dir = %i, watchdog_mode = %i)\n",

   424

                 sc, sync_index, dir, watchdog_mode);

   425

   426

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   427

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   428

        return -ENOENT;

   429

    }

   430

   431

    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {

   432

        EC_ERR("Invalid direction %u!\n", (u32) dir);

   433

        return -EINVAL;

   434

    }

   435

   436

    sync_config = &sc->sync_configs[sync_index];

   437

    sync_config->dir = dir;

   438

    sync_config->watchdog_mode = watchdog_mode;

   439

    return 0;

   440

}

   441

   442

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

   443

   444

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

   445

        uint16_t divider, uint16_t intervals)

   446

{

   447

    if (sc->master->debug_level)

   448

        EC_DBG("%s(sc = 0x%p, divider = %u, intervals = %u)\n",

   449

                __func__, sc, divider, intervals);

   450

   451

    sc->watchdog_divider = divider;

   452

    sc->watchdog_intervals = intervals;

   453

}

   454

   455

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

   456

   457

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   458

        uint8_t sync_index, uint16_t pdo_index)

   459

{

   460

    ec_pdo_t *pdo;

   461

   462

    if (sc->master->debug_level)

   463

        EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%p, sync_index = %u, "

   464

                "pdo_index = 0x%04X)\n", sc, sync_index, pdo_index);

   465

   466

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   467

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   468

        return -EINVAL;

   469

    }

   470

   471

    down(&sc->master->master_sem);

   472

   473

    pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);

   474

    if (IS_ERR(pdo)) {

   475

        up(&sc->master->master_sem);

   476

        return PTR_ERR(pdo);

   477

    }

   478

    pdo->sync_index = sync_index;

   479

   480

    ec_slave_config_load_default_mapping(sc, pdo);

   481

   482

    up(&sc->master->master_sem);

   483

    return 0;

   484

}

   485

   486

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

   487

   488

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   489

        uint8_t sync_index)

   490

{

   491

    if (sc->master->debug_level)

   492

        EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%p, "

   493

                "sync_index = %u)\n", sc, sync_index);

   494