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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     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

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

    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

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 *  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

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave configuration methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/slab.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

/** Slave configuration constructor.

    51

 *

    52

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

    53

 * position parameters.

    54

 */

    55

void ec_slave_config_init(

    56

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

    57

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

    58

        uint16_t alias, /**< Slave alias. */

    59

        uint16_t position, /**< Slave position. */

    60

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

    62

        )

    63

{

    64

    ec_direction_t dir;

    65

    66

    sc->master = master;

    67

    sc->alias = alias;

    68

    sc->position = position;

    69

    sc->vendor_id = vendor_id;

    70

    sc->product_code = product_code;

    71

    sc->slave = NULL;

    72

    73

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

    74

        ec_pdo_list_init(&sc->pdos[dir]);

    75

    76

    INIT_LIST_HEAD(&sc->sdo_configs);

    77

    INIT_LIST_HEAD(&sc->sdo_requests);

    78

    79

    sc->used_fmmus = 0;

    80

}

    81

    82

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

    83

    84

/** Slave configuration destructor.

    85

 *

    86

 * Clears and frees a slave configuration object.

    87

 */

    88

void ec_slave_config_clear(

    89

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

    90

        )

    91

{

    92

    ec_direction_t dir;

    93

    ec_sdo_request_t *req, *next_req;

    94

    95

    ec_slave_config_detach(sc);

    96

    97

    // Free Pdo mappings

    98

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

    99

        ec_pdo_list_clear(&sc->pdos[dir]);

   100

   101

    // free all Sdo configurations

   102

    list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {

   103

        list_del(&req->list);

   104

        ec_sdo_request_clear(req);

   105

        kfree(req);

   106

    }

   107

   108

    // free all Sdo requests

   109

    list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {

   110

        list_del(&req->list);

   111

        ec_sdo_request_clear(req);

   112

        kfree(req);

   113

    }

   114

}

   115

   116

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

   117

   118

/** Prepares an FMMU configuration.

   119

 *

   120

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

   121

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

   122

 * is done in a way, that the complete data range of the corresponding sync

   123

 * manager is covered. Seperate FMMUs are configured for each domain. If the

   124

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

   125

 * returns with success.

   126

 *

   127

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

   128

 * \retval -1  Error, FMMU limit reached.

   129

 */

   130

int ec_slave_config_prepare_fmmu(

   131

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

   132

        ec_domain_t *domain, /**< Domain. */

   133

        ec_direction_t dir /**< Pdo direction. */

   134

        )

   135

{

   136

    unsigned int i;

   137

    ec_fmmu_config_t *fmmu;

   138

   139

    // FMMU configuration already prepared?

   140

    for (i = 0; i < sc->used_fmmus; i++) {

   141

        fmmu = &sc->fmmu_configs[i];

   142

        if (fmmu->domain == domain && fmmu->dir == dir)

   143

            return fmmu->logical_start_address;

   144

    }

   145

   146

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   147

        EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",

   148

                sc->alias, sc->position);

   149

        return -1;

   150

    }

   151

   152

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

   153

    ec_fmmu_config_init(fmmu, sc, domain, dir);

   154

    return fmmu->logical_start_address;

   155

}

   156

   157

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

   158

   159

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

   160

 *

   161

 * \retval 0 Success.

   162

 * \retval -1 Slave not found.

   163

 * \retval -2 Slave already configured.

   164

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

   165

 */

   166

int ec_slave_config_attach(

   167

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

   168

        )

   169

{

   170

	ec_slave_t *slave;

   171

   172

	if (sc->slave)

   173

		return 0; // already attached

   174

   175

    if (!(slave = ec_master_find_slave(

   176

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

   177

        EC_WARN("Failed to find slave for configuration %u:%u.\n",

   178

                sc->alias, sc->position);

   179

        return -1;

   180

    }

   181

   182

	if (slave->config) {

   183

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

   184

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

   185

				sc->position, slave->ring_position);

   186

		return -2;

   187

	}

   188

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

   195

		return -3;

   196

	}

   197

   198

	// attach slave

   199

	slave->config = sc;

   200

	sc->slave = slave;

   201

   202

    if (sc->master->debug_level)

   203

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

   204

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

   205

   206

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   207

   208

	return 0;

   209

}

   210

   211

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

   212

   213

/** Detaches the configuration from a slave object.

   214

 */

   215

void ec_slave_config_detach(

   216

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

   217

        )

   218

{

   219

    if (sc->slave) {

   220

        sc->slave->config = NULL;

   221

        sc->slave = NULL;

   222

    }

   223

}

   224

   225

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

   226

   227

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

   228

 */

   229

void ec_slave_config_load_default_assignment(ec_slave_config_t *sc)

   230

{

   231

    ec_direction_t dir;

   232

    ec_pdo_list_t *pdos;

   233

    ec_sync_t *sync;

   234

   235

    if (!sc->slave)

   236

        return;

   237

   238

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   239

        pdos = &sc->pdos[dir];

   240

        if ((sync = ec_slave_get_pdo_sync(sc->slave, dir)))

   241

            ec_pdo_list_copy(pdos, &sync->pdos);

   242

    }

   243

}

   244

   245

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

   246

   247

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

   248

 */

   249

void ec_slave_config_load_default_mapping(

   250

        const ec_slave_config_t *sc,

   251

        ec_pdo_t *pdo

   252

        )

   253

{

   254

    const ec_sync_t *sync;

   255

    const ec_pdo_t *default_pdo;

   256

   257

    if (sc->master->debug_level)

   258

        EC_DBG("Loading default configuration for Pdo 0x%04X in"

   259

                " config %u:%u.\n", pdo->index, sc->alias, sc->position);

   260

   261

    if (!sc->slave) {

   262

        EC_WARN("Failed to load default Pdo configuration for %u:%u:"

   263

                " Slave not found.\n", sc->alias, sc->position);

   264

        return;

   265

    }

   266

   267

    if (!(sync = ec_slave_get_pdo_sync(sc->slave, pdo->dir))) {

   268

        EC_WARN("Slave %u does not provide a default Pdo"

   269

                " configuration!\n", sc->slave->ring_position);

   270

        return;

   271

    }

   272

   273

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

   274

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

   275

            continue;

   276

   277

        if (sc->master->debug_level)

   278

            EC_DBG("  Found Pdo name \"%s\".\n",

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                    default_pdo->name);

   280

   281

        // try to take Pdo name from mapped one

   282

        ec_pdo_set_name(pdo, default_pdo->name);

   283

   284

        // copy entries (= default Pdo configuration)

   285

        if (ec_pdo_copy_entries(pdo, default_pdo))

   286

            return;

   287

   288

        if (sc->master->debug_level) {

   289

            const ec_pdo_entry_t *entry;

   290

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

   291

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

   292

                        entry->index, entry->subindex);

   293

            }

   294

        }

   295

    }

   296

}

   297

   298

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

   299

   300

unsigned int ec_slave_config_sdo_count(

   301

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

   302

        )

   303

{

   304

	const ec_sdo_request_t *req;

   305

	unsigned int count = 0;

   306

   307

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

   308

		count++;

   309

	}

   310

   311

	return count;

   312

}

   313

   314

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

   315

   316

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

   317

 *

   318

 * Const version.

   319

 */

   320

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   321

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

   322

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

   323

        )

   324

{

   325

    const ec_sdo_request_t *req;

   326

   327

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

   328

        if (pos--)

   329

            continue;

   330

        return req;

   331

    }

   332

   333

    return NULL;

   334

}

   335

   336

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

   337

 *  Realtime interface

   338

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

   339

   340

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   341

        ec_direction_t dir, uint16_t index)

   342

{

   343

    ec_pdo_list_t *pl = &sc->pdos[dir];

   344

    ec_pdo_t *pdo;

   345

   346

    if (sc->master->debug_level)

   347

        EC_DBG("Adding Pdo 0x%04X to assignment for dir %u, config %u:%u.\n",

   348

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

   349

   350

    if (!(pdo = ec_pdo_list_add_pdo(pl, dir, index)))

   351

        return -1;

   352

   353

    ec_slave_config_load_default_mapping(sc, pdo);

   354

    return 0;

   355

}

   356

   357

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

   358

   359

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   360

        ec_direction_t dir)

   361

{

   362

    if (sc->master->debug_level)

   363

        EC_DBG("Clearing Pdo assignment for dir %u, config %u:%u.\n",

   364

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

   365

   366

    ec_pdo_list_clear_pdos(&sc->pdos[dir]);

   367

}

   368

   369

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

   370

   371

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   372

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   373

        uint8_t entry_bit_length)

   374

{

   375

    ec_direction_t dir;

   376

    ec_pdo_t *pdo;

   377

   378

    if (sc->master->debug_level)

   379

        EC_DBG("Adding Pdo entry 0x%04X:%02X (%u bit) to mapping of Pdo"

   380

                " 0x%04X, config %u:%u.\n", entry_index, entry_subindex,

   381

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

   382

   383

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

   384

        if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))

   385

            break;

   386

   387

    if (!pdo) {

   388

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

   389

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

   390

        return -1;

   391

    }

   392

   393

    return ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   394

            entry_bit_length) ? 0 : -1;

   395

}

   396

   397

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

   398

   399

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

   400

        uint16_t pdo_index)

   401

{

   402

    ec_direction_t dir;

   403

    ec_pdo_t *pdo;

   404

   405

    if (sc->master->debug_level)

   406

        EC_DBG("Clearing mapping of Pdo 0x%04X, config %u:%u.\n",

   407

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

   408

   409

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

   410

        if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))

   411

            break;

   412

   413

    if (!pdo) {

   414

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

   415

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

   416

        return;

   417

    }

   418

   419

    ec_pdo_clear_entries(pdo);

   420

}

   421

   422

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

   423

   424

int ecrt_slave_config_pdos(ec_slave_config_t *sc, unsigned int n_infos,

   425

        const ec_pdo_info_t pdo_infos[])

   426

{

   427

    unsigned int i, j;

   428

    const ec_pdo_info_t *pi;

   429

    ec_pdo_list_t *pl;

   430

    unsigned int cleared[] = {0, 0};

   431

    const ec_pdo_entry_info_t *ei;

   432

   433

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

   434

        pi = &pdo_infos[i];

   435

   436

        if (pi->dir == EC_END)

   437

            break;

   438

   439

        pl = &sc->pdos[pi->dir];

   440

   441

        if (!cleared[pi->dir]) {

   442

            ecrt_slave_config_pdo_assign_clear(sc, pi->dir);

   443

            cleared[pi->dir] = 1;

   444

        }

   445

   446

        if (ecrt_slave_config_pdo_assign_add(sc, pi->dir, pi->index))

   447

            return -1;

   448

   449

        if (pi->n_entries && pi->entries) { // mapping provided

   450

            if (sc->master->debug_level)

   451

                EC_DBG("  Pdo mapping information provided.\n");

   452

   453

            ecrt_slave_config_pdo_mapping_clear(sc, pi->index);

   454

   455

            for (j = 0; j < pi->n_entries; j++) {

   456

                ei = &pi->entries[j];

   457

   458

                if (ecrt_slave_config_pdo_mapping_add(sc, pi->index,

   459

                        ei->index, ei->subindex, ei->bit_length))

   460

                    return -1;

   461

            }

   462

        }

   463

    }

   464

   465

    return 0;

   466

}

   467

   468

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

   469

   470

int ecrt_slave_config_reg_pdo_entry(

   471

        ec_slave_config_t *sc,

   472

        uint16_t index,

   473

        uint8_t subindex,

   474

        ec_domain_t *domain,

   475

        unsigned int *bit_position

   476

        )

   477

{

   478

    ec_direction_t dir;

   479

    ec_pdo_list_t *pdos;

   480

    unsigned int bit_offset, bit_pos;

   481

    ec_pdo_t *pdo;

   482

    ec_pdo_entry_t *entry;

   483

    int sync_offset;

   484

   485

    if (sc->master->debug_level)

   486

        EC_DBG("ecrt_slave_config_reg_pdo_entry(sc = 0x%x, index = 0x%04X, "

   487

                "subindex = 0x%02X, domain = 0x%x, bit_position = 0x%x)\n",

   488

                (unsigned int) sc, index, subindex, (unsigned int) domain,

   489

                (unsigned int) bit_position);

   490

   491

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   492

        pdos = &sc->pdos[dir];

   493

        bit_offset = 0;

   494

        list_for_each_entry(pdo, &pdos->list, list) {

   495

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

   496

                if (entry->index != index || entry->subindex != subindex) {

   497

                    bit_offset += entry->bit_length;

   498

                } else {

   499

                    goto found;

   500

                }

   501

            }

   502

        }