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

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 *

     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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 *  vim: expandtab

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 *

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

    31

    32

/**

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   \file

    34

   EtherCAT slave configuration methods.

    35

*/

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    37

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

    38

    39

#include <linux/slab.h>

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    41

#include "globals.h"

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#include "master.h"

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#include "voe_handler.h"

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    45

#include "slave_config.h"

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    47

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

    48

    49

/** Slave configuration constructor.

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 *

    51

 * 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. */

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

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

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        )

    62

{

    63

    unsigned int i;

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    sc->master = master;

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    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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    74

    sc->slave = NULL;

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    76

    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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    79

    sc->used_fmmus = 0;

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    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;

    83

    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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    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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    INIT_LIST_HEAD(&sc->soe_configs);

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}

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    94

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

    95

    96

/** Slave configuration destructor.

    97

 *

    98

 * Clears and frees a slave configuration object.

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 */

   100

void ec_slave_config_clear(

   101

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

   102

        )

   103

{

   104

    unsigned int i;

   105

    ec_sdo_request_t *req, *next_req;

   106

    ec_voe_handler_t *voe, *next_voe;

   107

    ec_soe_request_t *soe, *next_soe;

   108

   109

    ec_slave_config_detach(sc);

   110

   111

    // Free sync managers

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    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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    // 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);

   118

        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // 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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   129

    // 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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   136

    // free all SoE configurations

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    list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {

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        list_del(&soe->list);

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        ec_soe_request_clear(soe);

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        kfree(soe);

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    }

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}

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

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   146

/** 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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   168

    // 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",

   177

                sc->alias, sc->position);

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        return -EOVERFLOW;

   179

    }

   180

   181

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

   182

   183

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

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

   185

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

   186

   187

    return fmmu->logical_start_address;

   188

}

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   190

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

   191

   192

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

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 *

   194

 * \retval  0 Success.

   195

 * \retval <0 Error code.

   196

 */

   197

int ec_slave_config_attach(

   198

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

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        )

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{

   201

    ec_slave_t *slave;

   202

   203

    if (sc->slave)

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        return 0; // already attached

   205

   206

    if (!(slave = ec_master_find_slave(

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

   208

        if (sc->master->debug_level)

   209

            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;

   212

    }

   213

   214

    if (slave->config) {

   215

        if (sc->master->debug_level)

   216

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

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

   218

                    sc->position, slave->ring_position);

   219

        return -EEXIST;

   220

    }

   221

   222

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

   223

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

   224

        if (sc->master->debug_level)

   225

            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;

   231

    }

   232

   233

    // attach slave

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    slave->config = sc;

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    sc->slave = slave;

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   237

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

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   239

    if (sc->master->debug_level)

   240

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

   241

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

   242

   243

    return 0;

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}

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   246

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

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   248

/** Detaches the configuration from a slave object.

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 */

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void ec_slave_config_detach(

   251

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

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        )

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{

   254

    if (sc->slave) {

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        sc->slave->config = NULL;

   256

        sc->slave = NULL;

   257

    }

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}

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   260

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

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   262

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

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 */

   264

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

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{

   266

    uint8_t sync_index;

   267

    ec_sync_config_t *sync_config;

   268

    const ec_sync_t *sync;

   269

   270

    if (!sc->slave)

   271

        return;

   272

   273

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

   274

        sync_config = &sc->sync_configs[sync_index];

   275

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

   276

            sync_config->dir = ec_sync_default_direction(sync);

   277

            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);

   280

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

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        }

   282

    }

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}

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   285

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

   286

   287

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

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 */

   289

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

   292

        )

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{

   294

    unsigned int i;

   295

    const ec_sync_t *sync;

   296

    const ec_pdo_t *default_pdo;

   297

   298

    if (!sc->slave)

   299

        return;

   300

   301

    if (sc->master->debug_level)

   302

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

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

   304

   305

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

   306

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

   307

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

   308

   309

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

   310

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

   311

                continue;

   312

   313

            if (default_pdo->name) {

   314

                if (sc->master->debug_level)

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

   316

   317

                // take PDO name from assigned one

   318

                ec_pdo_set_name(pdo, default_pdo->name);

   319

            }

   320

   321

            // copy entries (= default PDO mapping)

   322

            if (ec_pdo_copy_entries(pdo, default_pdo))

   323

                return;

   324

   325

            if (sc->master->debug_level) {

   326

                const ec_pdo_entry_t *entry;

   327

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

   328

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

   329

                            entry->index, entry->subindex);

   330

                }

   331

            }

   332

   333

            return;

   334

        }

   335

    }

   336

   337

    if (sc->master->debug_level)

   338

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

   339

}

   340

   341

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

   342

   343

/** Get the number of SDO configurations.

   344

 *

   345

 * \return Number of SDO configurations.

   346

 */

   347

unsigned int ec_slave_config_sdo_count(

   348

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

   349

        )

   350

{

   351

    const ec_sdo_request_t *req;

   352

    unsigned int count = 0;

   353

   354

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

   355

        count++;

   356

    }

   357

   358

    return count;

   359

}

   360

   361

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

   362

   363

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

   364

 *

   365

 * Const version.

   366

 */

   367

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   368

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

   369

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

   370

        )

   371

{

   372

    const ec_sdo_request_t *req;

   373

   374

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

   375

        if (pos--)

   376

            continue;

   377

        return req;

   378

    }

   379

   380

    return NULL;

   381

}

   382

   383

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

   384

   385

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

   386

 */

   387

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   388

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

   389

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

   390

        )

   391

{

   392

    ec_sdo_request_t *req;

   393

   394

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

   395

        if (pos--)

   396

            continue;

   397

        return req;

   398

    }

   399

   400

    return NULL;

   401

}

   402

   403

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

   404

   405

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

   406

 */

   407

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   408

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

   409

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

   410

        )

   411

{

   412

    ec_voe_handler_t *voe;

   413

   414

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

   415

        if (pos--)

   416

            continue;

   417

        return voe;

   418

    }

   419

   420

    return NULL;

   421

}

   422

   423

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

   424

 *  Application interface

   425

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

   426

   427

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   428

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   429

{

   430

    ec_sync_config_t *sync_config;

   431

   432

    if (sc->master->debug_level)

   433

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

   434

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

   435

                 sc, sync_index, dir, watchdog_mode);

   436

   437

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   438

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

   439

        return -ENOENT;

   440

    }

   441

   442

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

   443

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

   444

        return -EINVAL;

   445

    }

   446

   447

    sync_config = &sc->sync_configs[sync_index];

   448

    sync_config->dir = dir;

   449

    sync_config->watchdog_mode = watchdog_mode;

   450

    return 0;

   451

}

   452

   453

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

   454

   455

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

   456

        uint16_t divider, uint16_t intervals)

   457

{

   458

    if (sc->master->debug_level)

   459

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

   460

                __func__, sc, divider, intervals);

   461

   462

    sc->watchdog_divider = divider;

   463

    sc->watchdog_intervals = intervals;

   464

}

   465

   466

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

   467

   468

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   469

        uint8_t sync_index, uint16_t pdo_index)

   470

{

   471

    ec_pdo_t *pdo;

   472

   473

    if (sc->master->debug_level)

   474

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

   475

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

   476

   477

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   478

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

   479

        return -EINVAL;

   480

    }

   481

   482

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

   483

   484

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

   485

    if (IS_ERR(pdo)) {

   486

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

   487

        return PTR_ERR(pdo);

   488

    }

   489

    pdo->sync_index = sync_index;

   490

   491

    ec_slave_config_load_default_mapping(sc, pdo);

   492

   493

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

   494

    return 0;