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

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 *  published by the Free Software Foundation.

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 *

    13

 *  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

    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

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 *

    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.

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 *

    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

    slave->effective_alias = 0x0000;

    76

    77

    slave->config = NULL;

    78

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    79

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    80

    slave->error_flag = 0;

    81

    slave->force_config = 0;

    82

    slave->configured_rx_mailbox_offset = 0x0000;

    83

    slave->configured_rx_mailbox_size = 0x0000;

    84

    slave->configured_tx_mailbox_offset = 0x0000;

    85

    slave->configured_tx_mailbox_size = 0x0000;

    86

    87

    slave->base_type = 0;

    88

    slave->base_revision = 0;

    89

    slave->base_build = 0;

    90

    slave->base_fmmu_count = 0;

    91

    slave->base_sync_count = 0;

    92

    93

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

    94

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

    95

    96

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

    97

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

    98

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

    99

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

   100

   101

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

   102

   103

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

   104

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

   105

    }

   106

   107

    slave->base_fmmu_bit_operation = 0;

   108

    slave->base_dc_supported = 0;

   109

    slave->base_dc_range = EC_DC_32;

   110

    slave->has_dc_system_time = 0;

   111

    slave->transmission_delay = 0U;

   112

   113

    slave->sii_words = NULL;

   114

    slave->sii_nwords = 0;

   115

   116

    slave->sii.alias = 0x0000;

   117

    slave->sii.vendor_id = 0x00000000;

   118

    slave->sii.product_code = 0x00000000;

   119

    slave->sii.revision_number = 0x00000000;

   120

    slave->sii.serial_number = 0x00000000;

   121

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   122

    slave->sii.boot_rx_mailbox_size = 0x0000;

   123

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   124

    slave->sii.boot_tx_mailbox_size = 0x0000;

   125

    slave->sii.std_rx_mailbox_offset = 0x0000;

   126

    slave->sii.std_rx_mailbox_size = 0x0000;

   127

    slave->sii.std_tx_mailbox_offset = 0x0000;

   128

    slave->sii.std_tx_mailbox_size = 0x0000;

   129

    slave->sii.mailbox_protocols = 0;

   130

   131

    slave->sii.strings = NULL;

   132

    slave->sii.string_count = 0;

   133

   134

    slave->sii.has_general = 0;

   135

    slave->sii.group = NULL;

   136

    slave->sii.image = NULL;

   137

    slave->sii.order = NULL;

   138

    slave->sii.name = NULL;

   139

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

   140

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

   141

    slave->sii.current_on_ebus = 0;

   142

   143

    slave->sii.syncs = NULL;

   144

    slave->sii.sync_count = 0;

   145

   146

    INIT_LIST_HEAD(&slave->sii.pdos);

   147

   148

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   149

   150

    slave->sdo_dictionary_fetched = 0;

   151

    slave->jiffies_preop = 0;

   152

   153

    INIT_LIST_HEAD(&slave->slave_sdo_requests);

   154

    init_waitqueue_head(&slave->sdo_queue);

   155

   156

    INIT_LIST_HEAD(&slave->foe_requests);

   157

    init_waitqueue_head(&slave->foe_queue);

   158

   159

    INIT_LIST_HEAD(&slave->soe_requests);

   160

    init_waitqueue_head(&slave->soe_queue);

   161

   162

    // init state machine datagram

   163

    ec_datagram_init(&slave->fsm_datagram);

   164

    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE,

   165

            "slave%u-fsm", slave->ring_position);

   166

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

   167

    if (ret < 0) {

   168

        ec_datagram_clear(&slave->fsm_datagram);

   169

        EC_SLAVE_ERR(slave, "Failed to allocate FSM datagram.\n");

   170

        return;

   171

    }

   172

   173

    // create state machine object

   174

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

   175

}

   176

   177

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

   178

   179

/**

   180

   Slave destructor.

   181

   Clears and frees a slave object.

   182

*/

   183

   184

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

   185

{

   186

    ec_sdo_t *sdo, *next_sdo;

   187

    unsigned int i;

   188

    ec_pdo_t *pdo, *next_pdo;

   189

   190

    // abort all pending requests

   191

   192

    while (!list_empty(&slave->slave_sdo_requests)) {

   193

        ec_master_sdo_request_t *request =

   194

            list_entry(slave->slave_sdo_requests.next,

   195

                ec_master_sdo_request_t, list);

   196

        list_del_init(&request->list); // dequeue

   197

        EC_SLAVE_WARN(slave, "Discarding SDO request %p,"

   198

                " slave about to be deleted.\n",request);

   199

        request->req.state = EC_INT_REQUEST_FAILURE;

   200

        kref_put(&request->refcount,ec_master_sdo_request_release);

   201

        wake_up(&slave->sdo_queue);

   202

    }

   203

   204

    while (!list_empty(&slave->foe_requests)) {

   205

        ec_master_foe_request_t *request =

   206

            list_entry(slave->foe_requests.next,

   207

                ec_master_foe_request_t, list);

   208

        list_del_init(&request->list); // dequeue

   209

        EC_SLAVE_WARN(slave, "Discarding FoE request,"

   210

                " slave about to be deleted.\n");

   211

        request->req.state = EC_INT_REQUEST_FAILURE;

   212

        wake_up(&slave->foe_queue);

   213

    }

   214

   215

    while (!list_empty(&slave->soe_requests)) {

   216

        ec_master_soe_request_t *request =

   217

            list_entry(slave->soe_requests.next,

   218

                ec_master_soe_request_t, list);

   219

        list_del_init(&request->list); // dequeue

   220

        EC_SLAVE_WARN(slave, "Discarding SoE request,"

   221

                " slave about to be deleted.\n");

   222

        request->req.state = EC_INT_REQUEST_FAILURE;

   223

        wake_up(&slave->soe_queue);

   224

    }

   225

   226

    if (slave->config)

   227

        ec_slave_config_detach(slave->config);

   228

   229

    // free all SDOs

   230

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

   231

        list_del(&sdo->list);

   232

        ec_sdo_clear(sdo);

   233

        kfree(sdo);

   234

    }

   235

   236

    // free all strings

   237

    if (slave->sii.strings) {

   238

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

   239

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

   240

        kfree(slave->sii.strings);

   241

    }

   242

   243

    // free all sync managers

   244

    ec_slave_clear_sync_managers(slave);

   245

   246

    // free all SII PDOs

   247

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

   248

        list_del(&pdo->list);

   249

        ec_pdo_clear(pdo);

   250

        kfree(pdo);

   251

    }

   252

   253

    if (slave->sii_words)

   254

        kfree(slave->sii_words);

   255

    ec_fsm_slave_clear(&slave->fsm);

   256

    ec_datagram_clear(&slave->fsm_datagram);

   257

}

   258

   259

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

   260

   261

/** Clear the sync manager array. 

   262

 */

   263

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

   264

{

   265

    unsigned int i;

   266

   267

    if (slave->sii.syncs) {

   268

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

   269

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

   270

        }

   271

        kfree(slave->sii.syncs);

   272

        slave->sii.syncs = NULL;

   273

    }

   274

}

   275

   276

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

   277

   278

/**

   279

 * Sets the application state of a slave.

   280

 */

   281

   282

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

   283

        ec_slave_state_t new_state /**< new application state */

   284

        )

   285

{

   286

    if (new_state != slave->current_state) {

   287

        if (slave->master->debug_level) {

   288

            char old_state[EC_STATE_STRING_SIZE],

   289

                cur_state[EC_STATE_STRING_SIZE];

   290

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

   291

            ec_state_string(new_state, cur_state, 0);

   292

            EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);

   293

        }

   294

        slave->current_state = new_state;

   295

    }

   296

}

   297

   298

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

   299

   300

/**

   301

 * Request a slave state and resets the error flag.

   302

 */

   303

   304

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

   305

                            ec_slave_state_t state /**< new state */

   306

                            )

   307

{

   308

    slave->requested_state = state;

   309

    slave->error_flag = 0;

   310

}

   311

   312

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

   313

   314

/**

   315

   Fetches data from a STRING category.

   316

   \todo range checking

   317

   \return 0 in case of success, else < 0

   318

*/

   319

   320

int ec_slave_fetch_sii_strings(

   321

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

   322

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

   323

        size_t data_size /**< number of bytes */

   324

        )

   325

{

   326

    int i, err;

   327

    size_t size;

   328

    off_t offset;

   329

   330

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

   331

   332

    if (slave->sii.string_count) {

   333

        if (!(slave->sii.strings =

   334

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

   335

                        GFP_KERNEL))) {

   336

            EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");

   337

            err = -ENOMEM;

   338

            goto out_zero;

   339

        }

   340

   341

        offset = 1;

   342

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

   343

            size = data[offset];

   344

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

   345

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

   346

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

   347

                EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");

   348

                err = -ENOMEM;

   349

                goto out_free;

   350

            }

   351

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

   352

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

   353

            offset += 1 + size;

   354

        }

   355

    }

   356

   357

    return 0;

   358

   359

out_free:

   360

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

   361

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

   362

    kfree(slave->sii.strings);

   363

    slave->sii.strings = NULL;

   364

out_zero:

   365

    slave->sii.string_count = 0;

   366

    return err;

   367

}

   368

   369

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

   370

   371

/**

   372

   Fetches data from a GENERAL category.

   373

   \return 0 in case of success, else < 0

   374

*/

   375

   376

int ec_slave_fetch_sii_general(

   377

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

   378

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

   379

        size_t data_size /**< size in bytes */

   380

        )

   381

{

   382

    unsigned int i;

   383

    uint8_t flags;

   384

   385

    if (data_size != 32) {

   386

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

   387

                data_size);

   388

        return -EINVAL;

   389

    }

   390

   391

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

   392

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

   393

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

   394

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

   395

   396

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

   397

        slave->sii.physical_layer[i] =

   398

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

   399

   400

    // read CoE details

   401

    flags = EC_READ_U8(data + 5);

   402

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

   403

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

   404

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

   405

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

   406

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

   407

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

   408

   409

    // read general flags

   410

    flags = EC_READ_U8(data + 0x000B);

   411

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

   412

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

   413

   414

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

   415

    slave->sii.has_general = 1;

   416

    return 0;

   417

}

   418

   419

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

   420

   421

/** Fetches data from a SYNC MANAGER category.

   422

 *

   423

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

   424

 *

   425

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

   426

 */

   427

int ec_slave_fetch_sii_syncs(

   428

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

   429

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

   430

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

   431

        )

   432

{

   433

    unsigned int i, count, total_count;

   434

    ec_sync_t *sync;

   435

    size_t memsize;

   436

    ec_sync_t *syncs;

   437

    uint8_t index;

   438

   439

    // one sync manager struct is 4 words long

   440

    if (data_size % 8) {

   441

        EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",

   442

                data_size);

   443

        return -EINVAL;

   444

    }

   445

   446

    count = data_size / 8;

   447

   448

    if (count) {

   449

        total_count = count + slave->sii.sync_count;

   450

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   451

            EC_SLAVE_ERR(slave, "Exceeded maximum number of"

   452

                    " sync managers!\n");

   453

            return -EOVERFLOW;

   454

        }

   455

        memsize = sizeof(ec_sync_t) * total_count;

   456

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

   457

            EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"

   458

                    " for sync managers.\n", memsize);

   459

            return -ENOMEM;

   460

        }

   461

   462

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

   463

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

   464

   465

        // initialize new sync managers

   466

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

   467

            index = i + slave->sii.sync_count;

   468

            sync = &syncs[index];

   469

   470

            ec_sync_init(sync, slave);

   471

            sync->physical_start_address = EC_READ_U16(data);

   472

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

   473

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

   474

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

   475

        }

   476

   477

        if (slave->sii.syncs)

   478

            kfree(slave->sii.syncs);

   479

        slave->sii.syncs = syncs;

   480

        slave->sii.sync_count = total_count;

   481

    }

   482

   483

    return 0;

   484

}

   485