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

     2

 *

     3

 *  $Id$

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 *

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 *  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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 *

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

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

    26

    27

/**

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   \file

    29

   EtherCAT slave configuration methods.

    30

*/

    31

    32

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

    33

    34

#include <linux/slab.h>

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    36

#include "globals.h"

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#include "master.h"

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#include "slave_config.h"

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    41

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

    42

    43

/** Slave configuration constructor.

    44

 *

    45

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

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 * position parameters.

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 */

    48

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. */

    55

        )

    56

{

    57

    unsigned int i;

    58

    59

    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->slave = NULL;

    65

    66

    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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    69

    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    72

    sc->used_fmmus = 0;

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}

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    75

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

    76

    77

/** Slave configuration destructor.

    78

 *

    79

 * Clears and frees a slave configuration object.

    80

 */

    81

void ec_slave_config_clear(

    82

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

    83

        )

    84

{

    85

    unsigned int i;

    86

    ec_sdo_request_t *req, *next_req;

    87

    88

    ec_slave_config_detach(sc);

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    90

    // Free sync managers

    91

    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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    94

    // 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);

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    }

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   101

    // 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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}

   108

   109

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

   110

   111

/** Prepares an FMMU configuration.

   112

 *

   113

 * Configuration data for the FMMU is saved in the slave config structure and

   114

 * is written to the slave during the configuration. The FMMU configuration

   115

 * 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

   117

 * FMMU configuration is already prepared, the function does nothing and

   118

 * returns with success.

   119

 *

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

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 * \retval -1  Error, FMMU limit reached.

   122

 */

   123

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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    // 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 -1;

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    }

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   146

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

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   148

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

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   157

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

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 *

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 * \retval 0 Success.

   160

 * \retval -1 Slave not found.

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 * \retval -2 Slave already configured.

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 * \retval -3 Invalid slave type found at the given position.

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 */

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int ec_slave_config_attach(

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

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        )

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{

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	ec_slave_t *slave;

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	if (sc->slave)

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		return 0; // already attached

   172

   173

    if (!(slave = ec_master_find_slave(

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

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        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 -1;

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    }

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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 -2;

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    }

   188

   189

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

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            || 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 -3;

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	}

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	// attach slave

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	slave->config = sc;

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	sc->slave = slave;

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    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

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   206

    if (sc->master->debug_level)

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

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

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   210

	return 0;

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}

   212

   213

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

   214

   215

/** Detaches the configuration from a slave object.

   216

 */

   217

void ec_slave_config_detach(

   218

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

   219

        )

   220

{

   221

    if (sc->slave) {

   222

        sc->slave->config = NULL;

   223

        sc->slave = NULL;

   224

    }

   225

}

   226

   227

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

   228

   229

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

   230

 */

   231

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   232

{

   233

    uint8_t sync_index;

   234

    ec_sync_config_t *sync_config;

   235

    const ec_sync_t *sync;

   236

   237

    if (!sc->slave)

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        return;

   239

   240

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

   241

        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);

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

   248

        }

   249

    }

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}

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   252

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

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   254

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

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 */

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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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{

   261

    unsigned int i;

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    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

   264

   265

    if (!sc->slave)

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        return;

   267

   268

    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);

   271

   272

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

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

   274

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

   275

   276

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

   277

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

   278

                continue;

   279

   280

            if (default_pdo->name) {

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                if (sc->master->debug_level)

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

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                // take PDO name from assigned one

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                ec_pdo_set_name(pdo, default_pdo->name);

   286

            }

   287

   288

            // copy entries (= default PDO mapping)

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            if (ec_pdo_copy_entries(pdo, default_pdo))

   290

                return;

   291

   292

            if (sc->master->debug_level) {

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                const ec_pdo_entry_t *entry;

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

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

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                            entry->index, entry->subindex);

   297

                }

   298

            }

   299

   300

            return;

   301

        }

   302

    }

   303

   304

    if (sc->master->debug_level)

   305

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

   306

}

   307

   308

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

   309

   310

/** Get the number of SDO configurations.

   311

 *

   312

 * \return Number of SDO configurations.

   313

 */

   314

unsigned int ec_slave_config_sdo_count(

   315

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

   316

        )

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{

   318

	const ec_sdo_request_t *req;

   319

	unsigned int count = 0;

   320

   321

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

   322

		count++;

   323

	}

   324

   325

	return count;

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}

   327

   328

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

   329

   330

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

   331

 *

   332

 * Const version.

   333

 */

   334

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   335

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

   336

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

   337

        )

   338

{

   339

    const ec_sdo_request_t *req;

   340

   341

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

   342

        if (pos--)

   343

            continue;

   344

        return req;

   345

    }

   346

   347

    return NULL;

   348

}

   349

   350

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

   351

 *  Realtime interface

   352

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

   353

   354

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   355

        ec_direction_t dir)

   356

{

   357

    ec_sync_config_t *sync_config;

   358

   359

    if (sc->master->debug_level)

   360

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

   361

                "dir = %u)\n", (u32) sc, sync_index, dir);

   362

   363

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   364

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

   365

        return -1;

   366

    }

   367

   368

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

   369

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

   370

        return -1;

   371

    }

   372

   373

    sync_config = &sc->sync_configs[sync_index];

   374

    sync_config->dir = dir;

   375

    return 0;

   376

}

   377

   378

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

   379

   380

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

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        uint8_t sync_index, uint16_t pdo_index)

   382

{

   383

    ec_pdo_t *pdo;

   384

   385

    if (sc->master->debug_level)

   386

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

   387

                "pdo_index = 0x%04X)\n", (u32) sc, sync_index, pdo_index);

   388

   389

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   390

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

   391

        return -1;

   392

    }

   393

   394

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

   395

   396

    if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos,

   397

                    pdo_index))) {

   398

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

   399

        return -1;

   400

    }

   401

    pdo->sync_index = sync_index;

   402

   403

    ec_slave_config_load_default_mapping(sc, pdo);

   404

   405

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

   406

    return 0;

   407

}

   408

   409

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

   410

   411

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   412

        uint8_t sync_index)

   413

{

   414

    if (sc->master->debug_level)

   415

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

   416

                "sync_index = %u)\n", (u32) sc, sync_index);

   417

   418

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   419

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

   420

        return;

   421

    }

   422

   423

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

   424

    ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);

   425

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

   426

}

   427

   428

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

   429

   430

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   431

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   432

        uint8_t entry_bit_length)

   433

{

   434

    uint8_t sync_index;

   435

    ec_pdo_t *pdo = NULL;

   436

    int retval = -1;

   437

   438

    if (sc->master->debug_level)

   439

        EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%x, "

   440

                "pdo_index = 0x%04X, entry_index = 0x%04X, "

   441

                "entry_subindex = 0x%02X, entry_bit_length = %u)\n",

   442

                (u32) sc, pdo_index, entry_index, entry_subindex,

   443

                entry_bit_length);

   444

   445

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

   446

        if ((pdo = ec_pdo_list_find_pdo(

   447

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   448

            break;

   449

   450

    if (pdo) {

   451

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

   452

        retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   453

                entry_bit_length) ? 0 : -1;

   454

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

   455

    } else {

   456

        EC_ERR("PDO 0x%04X is not assigned in config %u:%u.\n",

   457

                pdo_index, sc->alias, sc->position);

   458

    }

   459

   460

    return retval;

   461

}

   462

   463

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

   464

   465

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

   466

        uint16_t pdo_index)

   467

{

   468

    uint8_t sync_index;

   469

    ec_pdo_t *pdo = NULL;

   470

   471

    if (sc->master->debug_level)

   472

        EC_DBG("ecrt_slave_config_pdo_mapping_clear(sc = 0x%x, "

   473

                "pdo_index = 0x%04X)\n", (u32) sc, pdo_index);

   474

   475

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

   476

        if ((pdo = ec_pdo_list_find_pdo(

   477

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   478

            break;

   479

   480

    if (pdo) {

   481

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

   482

        ec_pdo_clear_entries(pdo);

   483

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

   484

    } else {

   485

        EC_WARN("PDO 0x%04X is not assigned in config %u:%u.\n",

   486

                pdo_index, sc->alias, sc->position);

   487

    }

   488

}

   489

   490

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

   491

   492

int ecrt_slave_config_pdos(ec_slave_config_t *sc,

   493

        unsigned int n_syncs, const ec_sync_info_t syncs[])

   494

{

   495

    unsigned int i, j, k;

   496

    const ec_sync_info_t *sync_info;

   497

    const ec_pdo_info_t *pdo_info;