1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

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

    12

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

    13

 *

    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

    17

 *  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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   Canopen-over-EtherCAT functions.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

    43

#include "canopen.h"

    44

#include "master.h"

    45

    46

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

    47

    48

ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);

    49

ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

    50

                                    char *);

    51

void ec_sdo_clear(struct kobject *);

    52

void ec_sdo_entry_clear(struct kobject *);

    53

    54

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

    55

    56

/** \cond */

    57

    58

EC_SYSFS_READ_ATTR(info);

    59

EC_SYSFS_READ_ATTR(value);

    60

    61

static struct attribute *sdo_def_attrs[] = {

    62

    &attr_info,

    63

    NULL,

    64

};

    65

    66

static struct sysfs_ops sdo_sysfs_ops = {

    67

    .show = &ec_show_sdo_attribute,

    68

    .store = NULL

    69

};

    70

    71

static struct kobj_type ktype_ec_sdo = {

    72

    .release = ec_sdo_clear,

    73

    .sysfs_ops = &sdo_sysfs_ops,

    74

    .default_attrs = sdo_def_attrs

    75

};

    76

    77

static struct attribute *sdo_entry_def_attrs[] = {

    78

    &attr_info,

    79

    &attr_value,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops sdo_entry_sysfs_ops = {

    84

    .show = &ec_show_sdo_entry_attribute,

    85

    .store = NULL

    86

};

    87

    88

static struct kobj_type ktype_ec_sdo_entry = {

    89

    .release = ec_sdo_entry_clear,

    90

    .sysfs_ops = &sdo_entry_sysfs_ops,

    91

    .default_attrs = sdo_entry_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   SDO constructor.

   100

*/

   101

   102

int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */

   103

                uint16_t index, /**< SDO index */

   104

                ec_slave_t *slave /**< parent slave */

   105

                )

   106

{

   107

    sdo->slave = slave;

   108

    sdo->index = index;

   109

    sdo->object_code = 0x00;

   110

    sdo->name = NULL;

   111

    sdo->subindices = 0;

   112

    INIT_LIST_HEAD(&sdo->entries);

   113

   114

    // init kobject and add it to the hierarchy

   115

    memset(&sdo->kobj, 0x00, sizeof(struct kobject));

   116

    kobject_init(&sdo->kobj);

   117

    sdo->kobj.ktype = &ktype_ec_sdo;

   118

    sdo->kobj.parent = &slave->sdo_kobj;

   119

    if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {

   120

        EC_ERR("Failed to set kobj name.\n");

   121

        kobject_put(&sdo->kobj);

   122

        return -1;

   123

    }

   124

    if (kobject_add(&sdo->kobj)) {

   125

        EC_ERR("Failed to add SDO kobject.\n");

   126

        kobject_put(&sdo->kobj);

   127

        return -1;

   128

    }

   129

   130

    return 0;

   131

}

   132

   133

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

   134

   135

/**

   136

   SDO destructor.

   137

   Clears and frees an SDO object.

   138

*/

   139

   140

void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)

   141

{

   142

    ec_sdo_entry_t *entry, *next;

   143

   144

    // free all entries

   145

    list_for_each_entry_safe(entry, next, &sdo->entries, list) {

   146

        list_del(&entry->list);

   147

        ec_sdo_entry_destroy(entry);

   148

    }

   149

   150

    // destroy self

   151

    kobject_del(&sdo->kobj);

   152

    kobject_put(&sdo->kobj);

   153

}

   154

   155

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

   156

   157

/**

   158

   Clear and free SDO.

   159

   This method is called by the kobject,

   160

   once there are no more references to it.

   161

*/

   162

   163

void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)

   164

{

   165

    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   166

   167

    if (sdo->name) kfree(sdo->name);

   168

   169

    kfree(sdo);

   170

}

   171

   172

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

   173

   191

ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */

   192

                    char *buffer /**< target buffer */

   193

                    )

   194

{

   195

    off_t off = 0;

   196

   197

    off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);

   198

    off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");

   199

    off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);

   200

   201

    return off;

   202

}

   203

   204

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

   205

   206

ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */

   207

                              struct attribute *attr,

   208

                              char *buffer

   209

                              )

   210

{

   211

    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   212

   213

    if (attr == &attr_info) {

   214

        return ec_sdo_info(sdo, buffer);

   215

    }

   216

   217

    return 0;

   218

}

   219

   220

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

   221

   222

/**

   223

   SDO entry constructor.

   224

*/

   225

   226

int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */

   227

                      uint8_t subindex, /**< SDO entry subindex */

   228

                      ec_sdo_t *sdo /**< parent SDO */

   229

                      )

   230

{

   231

    entry->sdo = sdo;

   232

    entry->subindex = subindex;

   233

    entry->data_type = 0x0000;

   234

    entry->bit_length = 0;

   235

    entry->description = NULL;

   236

   237

    // init kobject and add it to the hierarchy

   238

    memset(&entry->kobj, 0x00, sizeof(struct kobject));

   239

    kobject_init(&entry->kobj);

   240

    entry->kobj.ktype = &ktype_ec_sdo_entry;

   241

    entry->kobj.parent = &sdo->kobj;

   242

    if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {

   243

        EC_ERR("Failed to set kobj name.\n");

   244

        kobject_put(&entry->kobj);

   245

        return -1;

   246

    }

   247

    if (kobject_add(&entry->kobj)) {

   248

        EC_ERR("Failed to add entry kobject.\n");

   249

        kobject_put(&entry->kobj);

   250

        return -1;

   251

    }

   252

   253

    return 0;

   254

}

   255

   256

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

   257

   258

/**

   259

   SDO entry destructor.

   260

   Clears and frees an SDO entry object.

   261

*/

   262

   263

void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)

   264

{

   265

    // destroy self

   266

    kobject_del(&entry->kobj);

   267

    kobject_put(&entry->kobj);

   268

}

   269

   270

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

   271

   272

/**

   273

   Clear and free SDO entry.

   274

   This method is called by the kobject,

   275

   once there are no more references to it.

   276

*/

   277

   278

void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)

   279

{

   280

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   281

   282

    if (entry->description) kfree(entry->description);

   283

   284

    kfree(entry);

   285

}

   286

   287

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

   288

   289

ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */

   290

                          char *buffer /**< target buffer */

   291

                          )

   292

{

   293

    off_t off = 0;

   294

   295

    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

   296

    off += sprintf(buffer + off, "Description: %s\n",

   297

                   entry->description ? entry->description : "");

   298

    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

   299

    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

   300

   301

    return off;

   302

}

   303

   304

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

   305

   306

ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */

   307

                                 ec_sdo_request_t *request, /**< SDO request */

   308

                                 char *buffer /**< target buffer */

   309

                                 )

   310

{

   311

    off_t off = 0;

   312

    unsigned int i;

   313

   314

    if (entry->data_type == 0x0002) { // int8

   315

        int8_t value;

   316

        if (entry->bit_length != 8)

   317

            goto not_fit;

   318

        value = EC_READ_S8(request->data);

   319

        off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);

   320

    }

   321

    else if (entry->data_type == 0x0003) { // int16

   322

        int16_t value;

   323

        if (entry->bit_length != 16)

   324

            goto not_fit;

   325

        value = EC_READ_S16(request->data);

   326

        off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);

   327

    }

   328

    else if (entry->data_type == 0x0004) { // int32

   329

        int32_t value;

   330

        if (entry->bit_length != 32)

   331

            goto not_fit;

   332

        value = EC_READ_S16(request->data);

   333

        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   334

    }

   335

    else if (entry->data_type == 0x0005) { // uint8

   336

        uint8_t value;

   337

        if (entry->bit_length != 8)

   338

            goto not_fit;

   339

        value = EC_READ_U8(request->data);

   340

        off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);

   341

    }

   342

    else if (entry->data_type == 0x0006) { // uint16

   343

        uint16_t value;

   344

        if (entry->bit_length != 16)

   345

            goto not_fit;

   346

        value = EC_READ_U16(request->data); 

   347

        off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);

   348

    }

   349

    else if (entry->data_type == 0x0007) { // uint32

   350

        uint32_t value;

   351

        if (entry->bit_length != 32)

   352

            goto not_fit;

   353

        value = EC_READ_U32(request->data);

   354

        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   355

    }

   356

    else if (entry->data_type == 0x0009) { // string

   357

        off += sprintf(buffer + off, "%s\n", request->data);

   358

    }

   359

    else {

   360

        off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",

   361

                entry->data_type);

   362

        goto raw_data;

   363

    }

   364

    return off;

   365

   366

not_fit:

   367

    off += sprintf(buffer + off,

   368

            "Invalid bit length %u for data type 0x%04X. Data:\n",

   369

            entry->bit_length, entry->data_type);

   370

raw_data:

   371

    for (i = 0; i < request->size; i++)

   372

        off += sprintf(buffer + off, "%02X (%c)\n",

   373

                request->data[i], request->data[i]);

   374

    return off;

   375

}

   376

   377

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

   378

   379

ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */

   380

                                char *buffer /**< target buffer */

   381

                                )

   382

{

   383

    ec_master_t *master = entry->sdo->slave->master;

   384

    off_t off = 0;

   385

    ec_sdo_request_t request;

   386

   387

    ec_sdo_request_init_read(&request, entry);

   388

   389

    // schedule request.

   390

    down(&master->sdo_sem);

   391

    list_add_tail(&request.list, &master->sdo_requests);

   392

    up(&master->sdo_sem);

   393

   394

    // wait for processing through FSM

   395

    if (wait_event_interruptible(master->sdo_queue,

   396

                request.state != EC_REQUEST_QUEUED)) {

   397

        // interrupted by signal

   398

        down(&master->sdo_sem);

   399

        if (request.state == EC_REQUEST_QUEUED) {

   400

            list_del(&request.list);

   401

            up(&master->sdo_sem);

   402

            return -EINTR;

   403

        }

   404

        // request already processing: interrupt not possible.

   405

        up(&master->sdo_sem);

   406

    }

   407

   408

    // wait until master FSM has finished processing

   409

    wait_event(master->sdo_queue, request.state != EC_REQUEST_IN_PROGRESS);

   410

   411

    if (request.state != EC_REQUEST_COMPLETE)

   412

        return -EIO;

   413

   414

    off += ec_sdo_entry_format_data(entry, &request, buffer);

   415

   416

    ec_sdo_request_clear(&request);

   417

    return off;

   418

}

   419

   420

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

   421

   422

ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */

   423

                                    struct attribute *attr,

   424

                                    char *buffer

   425

                                    )

   426

{

   427

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   428

   429

    if (attr == &attr_info) {

   430

        return ec_sdo_entry_info(entry, buffer);

   431

    }

   432

    else if (attr == &attr_value) {

   433

        return ec_sdo_entry_read_value(entry, buffer);

   434

    }

   435

   436

    return 0;

   437

}

   438

   439

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

   440

   441

/**

   442

   SDO request constructor.

   443

*/

   444

   445

void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */

   446

                              ec_sdo_entry_t *entry /**< SDO entry */

   447

                              )

   448

{

   449

    req->entry = entry;

   450

    req->data = NULL;

   451

    req->size = 0;

   452

    req->state = EC_REQUEST_QUEUED;

   453

}

   454

   455

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

   456

   457

/**

   458

   SDO request destructor.

   459

*/

   460

   461

void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)

   462

{

   463

    if (req->data) kfree(req->data);

   464

}

   465

   466

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