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

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

 *  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

    21

 *

    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.

    27

 *

    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

    71

    slave->master = master;

    72

    slave->ring_position = ring_position;

    73

    slave->station_address = station_address;

    74

    75

    slave->config = NULL;

    76

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    77

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    78

    slave->error_flag = 0;

    79

    slave->force_config = 0;

    80

    slave->configured_rx_mailbox_offset = 0x0000;

    81

    slave->configured_rx_mailbox_size = 0x0000;

    82

    slave->configured_tx_mailbox_offset = 0x0000;

    83

    slave->configured_tx_mailbox_size = 0x0000;

    84

    85

    slave->base_type = 0;

    86

    slave->base_revision = 0;

    87

    slave->base_build = 0;

    88

    slave->base_fmmu_count = 0;

    89

    slave->base_sync_count = 0;

    90

    91

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

    92

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

    93

    94

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

    95

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

    96

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

    97

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

    98

    99

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

   100

   101

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

   102

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

   103

    }

   104

   105

    slave->base_fmmu_bit_operation = 0;

   106

    slave->base_dc_supported = 0;

   107

    slave->base_dc_range = EC_DC_32;

   108

    slave->has_dc_system_time = 0;

   109

    slave->transmission_delay = 0U;

   110

   111

    slave->sii_words = NULL;

   112

    slave->sii_nwords = 0;

   113

   114

    slave->sii.alias = 0x0000;

   115

    slave->sii.vendor_id = 0x00000000;

   116

    slave->sii.product_code = 0x00000000;

   117

    slave->sii.revision_number = 0x00000000;

   118

    slave->sii.serial_number = 0x00000000;

   119

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   120

    slave->sii.boot_rx_mailbox_size = 0x0000;

   121

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   122

    slave->sii.boot_tx_mailbox_size = 0x0000;

   123

    slave->sii.std_rx_mailbox_offset = 0x0000;

   124

    slave->sii.std_rx_mailbox_size = 0x0000;

   125

    slave->sii.std_tx_mailbox_offset = 0x0000;

   126

    slave->sii.std_tx_mailbox_size = 0x0000;

   127

    slave->sii.mailbox_protocols = 0;

   128

   129

    slave->sii.strings = NULL;

   130

    slave->sii.string_count = 0;

   131

   132

    slave->sii.has_general = 0;

   133

    slave->sii.group = NULL;

   134

    slave->sii.image = NULL;

   135

    slave->sii.order = NULL;

   136

    slave->sii.name = NULL;

   137

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

   138

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

   139

    slave->sii.current_on_ebus = 0;

   140

   141

    slave->sii.syncs = NULL;

   142

    slave->sii.sync_count = 0;

   143

   144

    INIT_LIST_HEAD(&slave->sii.pdos);

   145

   146

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   147

   148

    slave->sdo_dictionary_fetched = 0;

   149

    slave->jiffies_preop = 0;

   150

}

   151

   152

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

   153

   154

/**

   155

   Slave destructor.

   156

   Clears and frees a slave object.

   157

*/

   158

   159

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

   160

{

   161

    ec_sdo_t *sdo, *next_sdo;

   162

    unsigned int i;

   163

    ec_pdo_t *pdo, *next_pdo;

   164

   165

    if (slave->config)

   166

        ec_slave_config_detach(slave->config);

   167

   168

    // free all SDOs

   169

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

   170

        list_del(&sdo->list);

   171

        ec_sdo_clear(sdo);

   172

        kfree(sdo);

   173

    }

   174

   175

    // free all strings

   176

    if (slave->sii.strings) {

   177

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

   178

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

   179

        kfree(slave->sii.strings);

   180

    }

   181

   182

    // free all sync managers

   183

    ec_slave_clear_sync_managers(slave);

   184

   185

    // free all SII PDOs

   186

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

   187

        list_del(&pdo->list);

   188

        ec_pdo_clear(pdo);

   189

        kfree(pdo);

   190

    }

   191

   192

    if (slave->sii_words)

   193

        kfree(slave->sii_words);

   194

}

   195

   196

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

   197

   198

/** Clear the sync manager array. 

   199

 */

   200

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

   201

{

   202

    unsigned int i;

   203

   204

    if (slave->sii.syncs) {

   205

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

   206

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

   207

        }

   208

        kfree(slave->sii.syncs);

   209

        slave->sii.syncs = NULL;

   210

    }

   211

}

   212

   213

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

   214

   215

/**

   216

 * Sets the application state of a slave.

   217

 */

   218

   219

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

   220

        ec_slave_state_t new_state /**< new application state */

   221

        )

   222

{

   223

    if (new_state != slave->current_state) {

   224

        if (slave->master->debug_level) {

   225

            char old_state[EC_STATE_STRING_SIZE],

   226

                cur_state[EC_STATE_STRING_SIZE];

   227

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

   228

            ec_state_string(new_state, cur_state, 0);

   229

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

   230

                   slave->ring_position, old_state, cur_state);

   231

        }

   232

        slave->current_state = new_state;

   233

    }

   234

}

   235

   236

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

   237

   238

/**

   239

 * Request a slave state and resets the error flag.

   240

 */

   241

   242

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

   243

                            ec_slave_state_t state /**< new state */

   244

                            )

   245

{

   246

    slave->requested_state = state;

   247

    slave->error_flag = 0;

   248

}

   249

   250

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

   251

   252

/**

   253

   Fetches data from a STRING category.

   254

   \todo range checking

   255

   \return 0 in case of success, else < 0

   256

*/

   257

   258

int ec_slave_fetch_sii_strings(

   259

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

   260

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

   261

        size_t data_size /**< number of bytes */

   262

        )

   263

{

   264

    int i, err;

   265

    size_t size;

   266

    off_t offset;

   267

   268

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

   269

   270

    if (slave->sii.string_count) {

   271

        if (!(slave->sii.strings =

   272

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

   273

                        GFP_KERNEL))) {

   274

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

   275

            err = -ENOMEM;

   276

            goto out_zero;

   277

        }

   278

   279

        offset = 1;

   280

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

   281

            size = data[offset];

   282

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

   283

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

   284

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

   285

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

   286

                err = -ENOMEM;

   287

                goto out_free;

   288

            }

   289

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

   290

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

   291

            offset += 1 + size;

   292

        }

   293

    }

   294

   295

    return 0;

   296

   297

out_free:

   298

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

   299

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

   300

    kfree(slave->sii.strings);

   301

    slave->sii.strings = NULL;

   302

out_zero:

   303

    slave->sii.string_count = 0;

   304

    return err;

   305

}

   306

   307

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

   308

   309

/**

   310

   Fetches data from a GENERAL category.

   311

   \return 0 in case of success, else < 0

   312

*/

   313

   314

int ec_slave_fetch_sii_general(

   315

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

   316

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

   317

        size_t data_size /**< size in bytes */

   318

        )

   319

{

   320

    unsigned int i;

   321

    uint8_t flags;

   322

   323

    if (data_size != 32) {

   324

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

   325

                data_size, slave->ring_position);

   326

        return -EINVAL;

   327

    }

   328

   329

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

   330

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

   331

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

   332

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

   333

   334

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

   335

        slave->sii.physical_layer[i] =

   336

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

   337

   338

    // read CoE details

   339

    flags = EC_READ_U8(data + 5);

   340

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

   341

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

   342

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

   343

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

   344

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

   345

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

   346

   347

    // read general flags

   348

    flags = EC_READ_U8(data + 0x000B);

   349

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

   350

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

   351

   352

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

   353

    slave->sii.has_general = 1;

   354

    return 0;

   355

}

   356

   357

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

   358

   359

/** Fetches data from a SYNC MANAGER category.

   360

 *

   361

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

   362

 *

   363

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

   364

 */

   365

int ec_slave_fetch_sii_syncs(

   366

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

   367

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

   368

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

   369

        )

   370

{

   371

    unsigned int i, count, total_count;

   372

    ec_sync_t *sync;

   373

    size_t memsize;

   374

    ec_sync_t *syncs;

   375

    uint8_t index;

   376

   377

    // one sync manager struct is 4 words long

   378

    if (data_size % 8) {

   379

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

   380

                data_size, slave->ring_position);

   381

        return -EINVAL;

   382

    }

   383

   384

    count = data_size / 8;

   385

   386

    if (count) {

   387

        total_count = count + slave->sii.sync_count;

   388

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   389

            EC_ERR("Exceeded maximum number of sync managers!\n");

   390

            return -EOVERFLOW;

   391

        }

   392

        memsize = sizeof(ec_sync_t) * total_count;

   393

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

   394

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

   395

                    memsize);

   396

            return -ENOMEM;

   397

        }

   398

   399

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

   400

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

   401

   402

        // initialize new sync managers

   403

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

   404

            index = i + slave->sii.sync_count;

   405

            sync = &syncs[index];

   406

   407

            ec_sync_init(sync, slave);

   408

            sync->physical_start_address = EC_READ_U16(data);

   409

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

   410

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

   411

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

   412

        }

   413

   414

        if (slave->sii.syncs)

   415

            kfree(slave->sii.syncs);

   416

        slave->sii.syncs = syncs;

   417

        slave->sii.sync_count = total_count;

   418

    }

   419

   420

    return 0;

   421

}

   422

   423

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

   424

   425

/**

   426

   Fetches data from a [RT]xPDO category.

   427

   \return 0 in case of success, else < 0

   428

*/

   429

   430

int ec_slave_fetch_sii_pdos(

   431

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

   432

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

   433

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

   434

        ec_direction_t dir /**< PDO direction. */

   435

        )

   436

{

   437

    int ret;

   438

    ec_pdo_t *pdo;

   439

    ec_pdo_entry_t *entry;

   440

    unsigned int entry_count, i;

   441

   442

    while (data_size >= 8) {

   443

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

   444

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

   445

            return -ENOMEM;

   446

        }

   447

   448

        ec_pdo_init(pdo);

   449

        pdo->index = EC_READ_U16(data);

   450

        entry_count = EC_READ_U8(data + 2);

   451

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

   452

        ret = ec_pdo_set_name(pdo,

   453

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

   454

        if (ret) {

   455

            ec_pdo_clear(pdo);

   456

            kfree(pdo);

   457

            return ret;

   458

        }

   459

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

   460

   461

        data_size -= 8;

   462

        data += 8;

   463

   464

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

   465

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

   466

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

   467

                return -ENOMEM;

   468

            }

   469

   470

            ec_pdo_entry_init(entry);

   471

            entry->index = EC_READ_U16(data);

   472

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

   473

            ret = ec_pdo_entry_set_name(entry,

   474

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

   475

            if (ret) {

   476

                ec_pdo_entry_clear(entry);

   477

                kfree(entry);

   478

                return ret;

   479

            }

   480

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

   481

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

   482

   483

            data_size -= 8;