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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

    12

 *  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

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

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 *

    32

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

    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 "datagram.h"

    46

#include "master.h"

    47

#include "slave_config.h"

    48

    49

#include "slave.h"

    50

    51

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

    52

    53

extern const ec_code_msg_t al_status_messages[];

    54

    55

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

    56

    57

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    58

    59

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

    60

    61

/**

    62

   Slave constructor.

    63

   \return 0 in case of success, else < 0

    64

*/

    65

    66

void ec_slave_init(

    67

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

    68

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

    69

        uint16_t ring_position, /**< ring position */

    70

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

    71

        )

    72

{

    73

    unsigned int i;

    74

    75

    slave->ring_position = ring_position;

    76

    slave->station_address = station_address;

    77

    78

    slave->master = master;

    79

    80

    slave->config = NULL;

    81

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    82

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    83

    slave->error_flag = 0;

    84

    slave->force_config = 0;

    85

    86

    slave->base_type = 0;

    87

    slave->base_revision = 0;

    88

    slave->base_build = 0;

    89

    slave->base_fmmu_count = 0;

    90

    91

    slave->sii_words = NULL;

    92

    slave->sii_nwords = 0;

    93

    94

    slave->sii.alias = 0;

    95

    slave->sii.vendor_id = 0;

    96

    slave->sii.product_code = 0;

    97

    slave->sii.revision_number = 0;

    98

    slave->sii.serial_number = 0;

    99

    slave->sii.rx_mailbox_offset = 0;

   100

    slave->sii.rx_mailbox_size = 0;

   101

    slave->sii.tx_mailbox_offset = 0;

   102

    slave->sii.tx_mailbox_size = 0;

   103

    slave->sii.mailbox_protocols = 0;

   104

   105

    slave->sii.strings = NULL;

   106

    slave->sii.string_count = 0;

   107

   108

    slave->sii.has_general = 0;

   109

    slave->sii.group = NULL;

   110

    slave->sii.image = NULL;

   111

    slave->sii.order = NULL;

   112

    slave->sii.name = NULL;

   113

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

   114

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

   115

    slave->sii.current_on_ebus = 0;

   116

   117

    slave->sii.syncs = NULL;

   118

    slave->sii.sync_count = 0;

   119

   120

    INIT_LIST_HEAD(&slave->sii.pdos);

   121

   122

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   123

   124

    slave->sdo_dictionary_fetched = 0;

   125

    slave->jiffies_preop = 0;

   126

   127

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

   128

        slave->dl_link[i] = 0;

   129

        slave->dl_loop[i] = 0;

   130

        slave->dl_signal[i] = 0;

   131

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

   132

    }

   133

}

   134

   135

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

   136

   137

/**

   138

   Slave destructor.

   139

   Clears and frees a slave object.

   140

*/

   141

   142

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

   143

{

   144

    ec_sdo_t *sdo, *next_sdo;

   145

    unsigned int i;

   146

    ec_pdo_t *pdo, *next_pdo;

   147

   148

    if (slave->config)

   149

        ec_slave_config_detach(slave->config);

   150

   151

    // free all Sdos

   152

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

   153

        list_del(&sdo->list);

   154

        ec_sdo_clear(sdo);

   155

        kfree(sdo);

   156

    }

   157

   158

    // free all strings

   159

    if (slave->sii.strings) {

   160

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

   161

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

   162

        kfree(slave->sii.strings);

   163

    }

   164

   165

    // free all sync managers

   166

    ec_slave_clear_sync_managers(slave);

   167

   168

    // free all SII Pdos

   169

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

   170

        list_del(&pdo->list);

   171

        ec_pdo_clear(pdo);

   172

        kfree(pdo);

   173

    }

   174

   175

    if (slave->sii_words)

   176

        kfree(slave->sii_words);

   177

}

   178

   179

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

   180

   181

/** Clear the sync manager array. 

   182

 */

   183

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

   184

{

   185

    unsigned int i;

   186

   187

    if (slave->sii.syncs) {

   188

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

   189

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

   190

        }

   191

        kfree(slave->sii.syncs);

   192

        slave->sii.syncs = NULL;

   193

    }

   194

}

   195

   196

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

   197

   198

/**

   199

 * Sets the application state of a slave.

   200

 */

   201

   202

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

   203

        ec_slave_state_t new_state /**< new application state */

   204

        )

   205

{

   206

    if (new_state != slave->current_state) {

   207

        if (slave->master->debug_level) {

   208

            char old_state[EC_STATE_STRING_SIZE],

   209

                cur_state[EC_STATE_STRING_SIZE];

   210

            ec_state_string(slave->current_state, old_state);

   211

            ec_state_string(new_state, cur_state);

   212

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

   213

                   slave->ring_position, old_state, cur_state);

   214

        }

   215

        slave->current_state = new_state;

   216

    }

   217

}

   218

   219

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

   220

   221

/**

   222

 * Request a slave state and resets the error flag.

   223

 */

   224

   225

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

   226

                            ec_slave_state_t state /**< new state */

   227

                            )

   228

{

   229

    slave->requested_state = state;

   230

    slave->error_flag = 0;

   231

}

   232

   233

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

   234

   235

/**

   236

   Fetches data from a STRING category.

   237

   \todo range checking

   238

   \return 0 in case of success, else < 0

   239

*/

   240

   241

int ec_slave_fetch_sii_strings(

   242

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

   243

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

   244

        size_t data_size /**< number of bytes */

   245

        )

   246

{

   247

    int i;

   248

    size_t size;

   249

    off_t offset;

   250

   251

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

   252

   253

    if (!slave->sii.string_count)

   254

        return 0;

   255

   256

    if (!(slave->sii.strings =

   257

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

   258

                    GFP_KERNEL))) {

   259

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

   260

        goto out_zero;

   261

    }

   262

   263

    offset = 1;

   264

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

   265

        size = data[offset];

   266

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

   267

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

   268

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

   269

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

   270

            goto out_free;

   271

        }

   272

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

   273

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

   274

        offset += 1 + size;

   275

    }

   276

   277

    return 0;

   278

   279

out_free:

   280

    for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);

   281

    kfree(slave->sii.strings);

   282

    slave->sii.strings = NULL;

   283

out_zero:

   284

    slave->sii.string_count = 0;

   285

    return -1;

   286

}

   287

   288

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

   289

   290

/**

   291

   Fetches data from a GENERAL category.

   292

   \return 0 in case of success, else < 0

   293

*/

   294

   295

int ec_slave_fetch_sii_general(

   296

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

   297

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

   298

        size_t data_size /**< size in bytes */

   299

        )

   300

{

   301

    unsigned int i;

   302

    uint8_t flags;

   303

   304

    if (data_size != 32) {

   305

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

   306

                data_size, slave->ring_position);

   307

        return -1;

   308

    }

   309

   310

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

   311

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

   312

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

   313

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

   314

   315

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

   316

        slave->sii.physical_layer[i] =

   317

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

   318

   319

    // read CoE details

   320

    flags = EC_READ_U8(data + 5);

   321

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

   322

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

   323

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

   324

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

   325

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

   326

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

   327

   328

    // read general flags

   329

    flags = EC_READ_U8(data + 0x000B);

   330

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

   331

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

   332

   333

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

   334

    slave->sii.has_general = 1;

   335

    return 0;

   336

}

   337

   338

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

   339

   340

/** Fetches data from a SYNC MANAGER category.

   341

 *

   342

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

   343

 *

   344

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

   345

 */

   346

int ec_slave_fetch_sii_syncs(

   347

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

   348

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

   349

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

   350

        )

   351

{

   352

    unsigned int i, count, total_count;

   353

    ec_sync_t *sync;

   354

    size_t memsize;

   355

    ec_sync_t *syncs;

   356

    uint8_t index;

   357

   358

    // one sync manager struct is 4 words long

   359

    if (data_size % 8) {

   360

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

   361

                data_size, slave->ring_position);

   362

        return -1;

   363

    }

   364

   365

    count = data_size / 8;

   366

   367

    if (count) {

   368

        total_count = count + slave->sii.sync_count;

   369

        memsize = sizeof(ec_sync_t) * total_count;

   370

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

   371

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

   372

                    memsize);

   373

            return -1;

   374

        }

   375

   376

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

   377

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

   378

   379

        // initialize new sync managers

   380

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

   381

            index = i + slave->sii.sync_count;

   382

            sync = &syncs[index];

   383

   384

            ec_sync_init(sync, slave, index);

   385

            sync->physical_start_address = EC_READ_U16(data);

   386

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

   387

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

   388

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

   389

        }

   390

   391

        if (slave->sii.syncs)

   392

            kfree(slave->sii.syncs);

   393

        slave->sii.syncs = syncs;

   394

        slave->sii.sync_count = total_count;

   395

    }

   396

   397

    return 0;

   398

}

   399

   400

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

   401

   402

/**

   403

   Fetches data from a [RT]XPdo category.

   404

   \return 0 in case of success, else < 0

   405

*/

   406

   407

int ec_slave_fetch_sii_pdos(

   408

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

   409

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

   410

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

   411

        ec_direction_t dir /**< Pdo direction. */

   412

        )

   413

{

   414

    ec_pdo_t *pdo;

   415

    ec_pdo_entry_t *entry;

   416

    unsigned int entry_count, i;

   417

   418

    while (data_size >= 8) {

   419

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

   420

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

   421

            return -1;

   422

        }

   423

   424

        ec_pdo_init(pdo);

   425

        pdo->dir = dir;

   426

        pdo->index = EC_READ_U16(data);

   427

        entry_count = EC_READ_U8(data + 2);

   428

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

   429

        if (ec_pdo_set_name(pdo,

   430

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

   431

            ec_pdo_clear(pdo);

   432

            kfree(pdo);

   433

            return -1;

   434

        }

   435

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

   436

   437

        data_size -= 8;

   438

        data += 8;

   439

   440

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

   441

            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {

   442

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

   443

                return -1;

   444

            }

   445

   446

            ec_pdo_entry_init(entry);

   447

            entry->index = EC_READ_U16(data);

   448

            entry->subindex = EC_READ_U8(data + 2);

   449

            if (ec_pdo_entry_set_name(entry,

   450

                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)))) {

   451

                ec_pdo_entry_clear(entry);

   452

                kfree(entry);

   453

                return -1;

   454

            }

   455

            entry->bit_length = EC_READ_U8(data + 5);

   456

            list_add_tail(&entry->list, &pdo->entries);

   457

   458

            data_size -= 8;

   459

            data += 8;

   460

        }

   461

   462

        // if sync manager index is positive, the Pdo is mapped by default

   463

        if (pdo->sync_index >= 0) {

   464

            ec_sync_t *sync;

   465

   466

            if (pdo->sync_index >= slave->sii.sync_count) {

   467

                EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",

   468

                        pdo->sync_index, pdo->index, slave->ring_position);

   469

                return -1;

   470

            }

   471

            sync = &slave->sii.syncs[pdo->sync_index];

   472

   473

            if (ec_pdo_list_add_pdo_copy(&sync->pdos, pdo))

   474

                return -1;

   475

   476

            sync->assign_source = EC_ASSIGN_SII;

   477

        }

   478

    }

   479

   480

    return 0;

   481

}

   482

   483

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

   484