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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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 *  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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 *

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

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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 *  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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 *

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

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/**

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   \file

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   EtherCAT slave methods.

    37

*/

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

    40

    41

#include <linux/module.h>

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#include <linux/delay.h>

    43

    44

#include "globals.h"

    45

#include "slave.h"

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#include "datagram.h"

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#include "master.h"

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    49

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

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

void ec_slave_clear(struct kobject *);

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

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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

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                                 const char *, size_t);

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    60

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

    61

    62

/** \cond */

    63

    64

EC_SYSFS_READ_ATTR(info);

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EC_SYSFS_READ_WRITE_ATTR(state);

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EC_SYSFS_READ_WRITE_ATTR(eeprom);

    67

    68

static struct attribute *def_attrs[] = {

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    &attr_info,

    70

    &attr_state,

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    &attr_eeprom,

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    NULL,

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};

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    75

static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_attribute,

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    .store = ec_store_slave_attribute

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};

    79

    80

static struct kobj_type ktype_ec_slave = {

    81

    .release = ec_slave_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

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};

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    86

static struct kobj_type ktype_ec_slave_sdos = {};

    87

    88

/** \endcond */

    89

    90

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

    91

    92

/**

    93

   Slave constructor.

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   \return 0 in case of success, else < 0

    95

*/

    96

    97

int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */

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

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                  uint16_t ring_position, /**< ring position */

   100

                  uint16_t station_address /**< station address to configure */

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                  )

   102

{

   103

    unsigned int i;

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   105

    slave->ring_position = ring_position;

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    slave->station_address = station_address;

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   108

    // init kobject and add it to the hierarchy

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

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    kobject_init(&slave->kobj);

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    slave->kobj.ktype = &ktype_ec_slave;

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    slave->kobj.parent = &master->kobj;

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    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

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

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        kobject_put(&slave->kobj);

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        return -1;

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    }

   118

   119

    // init SDO kobject and add it to the hierarchy

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    memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&slave->sdo_kobj);

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    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

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

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    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {

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

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        kobject_put(&slave->sdo_kobj);

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        kobject_put(&slave->kobj);

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        return -1;

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    }

   130

   131

    slave->master = master;

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   133

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->configured = 0;

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    slave->error_flag = 0;

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    slave->online = 1;

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    slave->fmmu_count = 0;

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    slave->coupler_index = 0;

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    slave->coupler_subindex = 0xFFFF;

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    slave->base_type = 0;

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    slave->base_revision = 0;

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    slave->base_build = 0;

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    slave->base_fmmu_count = 0;

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    slave->base_sync_count = 0;

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    slave->eeprom_data = NULL;

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    slave->eeprom_size = 0;

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    slave->new_eeprom_data = NULL;

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    slave->new_eeprom_size = 0;

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    slave->sii_alias = 0;

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    slave->sii_vendor_id = 0;

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    slave->sii_product_code = 0;

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    slave->sii_revision_number = 0;

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    slave->sii_serial_number = 0;

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    slave->sii_rx_mailbox_offset = 0;

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    slave->sii_rx_mailbox_size = 0;

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    slave->sii_tx_mailbox_offset = 0;

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    slave->sii_tx_mailbox_size = 0;

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    slave->sii_mailbox_protocols = 0;

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    slave->sii_group = NULL;

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    slave->sii_image = NULL;

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    slave->sii_order = NULL;

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    slave->sii_name = NULL;

   168

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    INIT_LIST_HEAD(&slave->sii_strings);

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    INIT_LIST_HEAD(&slave->sii_syncs);

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    INIT_LIST_HEAD(&slave->sii_pdos);

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    INIT_LIST_HEAD(&slave->sdo_dictionary);

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    INIT_LIST_HEAD(&slave->sdo_confs);

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    slave->sdo_dictionary_fetched = 0;

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    slave->jiffies_preop = 0;

   177

   178

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

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        slave->dl_link[i] = 0;

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        slave->dl_loop[i] = 0;

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        slave->dl_signal[i] = 0;

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        slave->sii_physical_layer[i] = 0xFF;

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    }

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    return 0;

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}

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   188

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

   189

   190

/**

   191

   Slave destructor.

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   Clears and frees a slave object.

   193

*/

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   195

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

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{

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    ec_sdo_t *sdo, *next_sdo;

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    // free all SDOs

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

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        list_del(&sdo->list);

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        ec_sdo_destroy(sdo);

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    }

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   205

    // free SDO kobject

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    if (slave->sdo_dictionary_fetched) kobject_del(&slave->sdo_kobj);

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    kobject_put(&slave->sdo_kobj);

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   209

    // destroy self

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    kobject_del(&slave->kobj);

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    kobject_put(&slave->kobj);

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}

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

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   216

/**

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   Clear and free slave.

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   This method is called by the kobject,

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   once there are no more references to it.

   220

*/

   221

   222

void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

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{

   224

    ec_slave_t *slave;

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    ec_sii_string_t *string, *next_str;

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    ec_sii_sync_t *sync, *next_sync;

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    ec_sii_pdo_t *pdo, *next_pdo;

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    ec_sii_pdo_entry_t *entry, *next_ent;

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    ec_sdo_data_t *sdodata, *next_sdodata;

   230

   231

    slave = container_of(kobj, ec_slave_t, kobj);

   232

   233

    // free all string objects

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    list_for_each_entry_safe(string, next_str, &slave->sii_strings, list) {

   235

        list_del(&string->list);

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        kfree(string);

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    }

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   239

    // free all sync managers

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    list_for_each_entry_safe(sync, next_sync, &slave->sii_syncs, list) {

   241

        list_del(&sync->list);

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        kfree(sync);

   243

    }

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   245

    // free all PDOs

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    list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {

   247

        list_del(&pdo->list);

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

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        // free all PDO entries

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        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

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            list_del(&entry->list);

   253

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

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            kfree(entry);

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        }

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        kfree(pdo);

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    }

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   260

    if (slave->sii_group) kfree(slave->sii_group);

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    if (slave->sii_image) kfree(slave->sii_image);

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    if (slave->sii_order) kfree(slave->sii_order);

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    if (slave->sii_name) kfree(slave->sii_name);

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    // free all SDO configurations

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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

   267

        list_del(&sdodata->list);

   268

        kfree(sdodata->data);

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        kfree(sdodata);

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    }

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   272

    if (slave->eeprom_data) kfree(slave->eeprom_data);

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    if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);

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    kfree(slave);

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}

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

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   280

/**

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   Reset slave from operation mode.

   282

*/

   283

   284

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

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{

   286

    ec_sdo_data_t *sdodata, *next_sdodata;

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    ec_sii_sync_t *sync;

   288

   289

    // remove FMMU configurations

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    slave->fmmu_count = 0;

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    // free all SDO configurations

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    list_for_each_entry_safe(sdodata, next_sdodata, &slave->sdo_confs, list) {

   294

        list_del(&sdodata->list);

   295

        kfree(sdodata->data);

   296

        kfree(sdodata);

   297

    }

   298

   299

    // remove estimated sync manager sizes

   300

    list_for_each_entry(sync, &slave->sii_syncs, list) {

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        sync->est_length = 0;

   302

    }

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}

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

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   307

/**

   308

 */

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   310

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

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                            ec_slave_state_t state /**< new state */

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                            )

   313

{

   314

    slave->requested_state = state;

   315

    slave->error_flag = 0;

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}

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   318

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

   319

   320

/**

   321

   Fetches data from a STRING category.

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   \return 0 in case of success, else < 0

   323

*/

   324

   325

int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */

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

   327

                           )

   328

{

   329

    unsigned int string_count, i;

   330

    size_t size;

   331

    off_t offset;

   332

    ec_sii_string_t *string;

   333

   334

    string_count = data[0];

   335

    offset = 1;

   336

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

   337

        size = data[offset];

   338

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

   339

        if (!(string = (ec_sii_string_t *)

   340

              kmalloc(sizeof(ec_sii_string_t) + size + 1, GFP_ATOMIC))) {

   341

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

   342

            return -1;

   343

        }

   344

        string->size = size;

   345

        // string memory appended to string structure

   346

        string->data = (char *) string + sizeof(ec_sii_string_t);

   347

        memcpy(string->data, data + offset + 1, size);

   348

        string->data[size] = 0x00;

   349

        list_add_tail(&string->list, &slave->sii_strings);

   350

        offset += 1 + size;

   351

    }

   352

   353

    return 0;

   354

}

   355

   356

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

   357

   358

/**

   359

   Fetches data from a GENERAL category.

   360

   \return 0 in case of success, else < 0

   361

*/

   362

   363

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

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

   365

                            )

   366

{

   367

    unsigned int i;

   368

   369

    ec_slave_locate_string(slave, data[0], &slave->sii_group);

   370

    ec_slave_locate_string(slave, data[1], &slave->sii_image);

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    ec_slave_locate_string(slave, data[2], &slave->sii_order);

   372

    ec_slave_locate_string(slave, data[3], &slave->sii_name);

   373

   374

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

   375

        slave->sii_physical_layer[i] =

   376

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

   377

}

   378

   379

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

   380

   381

/**

   382

   Fetches data from a SYNC MANAGER category.

   383

   \return 0 in case of success, else < 0

   384

*/

   385

   386

int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */

   387

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

   388

                        size_t word_count /**< number of words */

   389

                        )

   390

{

   391

    unsigned int sync_count, i;

   392

    ec_sii_sync_t *sync;

   393

   394

    sync_count = word_count / 4; // sync manager struct is 4 words long

   395

   396

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

   397

        if (!(sync = (ec_sii_sync_t *)

   398

              kmalloc(sizeof(ec_sii_sync_t), GFP_ATOMIC))) {

   399

            EC_ERR("Failed to allocate Sync-Manager memory.\n");

   400

            return -1;

   401

        }

   402

   403

        sync->index = i;

   404

        sync->physical_start_address = EC_READ_U16(data);

   405

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

   406

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

   407

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

   408

   409

        sync->est_length = 0;

   410

   411

        list_add_tail(&sync->list, &slave->sii_syncs);

   412

    }

   413

   414

    return 0;

   415

}

   416

   417

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

   418

   419

/**

   420

   Fetches data from a [RT]XPDO category.

   421

   \return 0 in case of success, else < 0

   422

*/

   423

   424

int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */

   425

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

   426

                       size_t word_count, /**< number of words */

   427

                       ec_sii_pdo_type_t pdo_type /**< PDO type */

   428

                       )

   429

{

   430

    ec_sii_pdo_t *pdo;

   431

    ec_sii_pdo_entry_t *entry;

   432

    unsigned int entry_count, i;

   433

   434

    while (word_count >= 4) {

   435

        if (!(pdo = (ec_sii_pdo_t *)

   436

              kmalloc(sizeof(ec_sii_pdo_t), GFP_ATOMIC))) {

   437

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

   438

            return -1;

   439

        }

   440

   441

        INIT_LIST_HEAD(&pdo->entries);

   442

        pdo->type = pdo_type;

   443

   444

        pdo->index = EC_READ_U16(data);

   445

        entry_count = EC_READ_U8(data + 2);

   446

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

   447

        pdo->name = NULL;

   448

        ec_slave_locate_string(slave, EC_READ_U8(data + 5), &pdo->name);

   449

   450

        list_add_tail(&pdo->list, &slave->sii_pdos);

   451

   452

        word_count -= 4;

   453

        data += 8;

   454

   455

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

   456

            if (!(entry = (ec_sii_pdo_entry_t *)

   457

                  kmalloc(sizeof(ec_sii_pdo_entry_t), GFP_ATOMIC))) {

   458

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

   459

                return -1;

   460

            }

   461

   462

            entry->index = EC_READ_U16(data);

   463

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

   464

            entry->name = NULL;

   465

            ec_slave_locate_string(slave, EC_READ_U8(data + 3), &entry->name);

   466

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

   467

   468

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

   469

   470

            word_count -= 4;

   471

            data += 8;

   472

        }

   473

    }

   474

   475

    return 0;

   476

}

   477

   478

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

   479

   480

/**

   481

   Searches the string list for an index and allocates a new string.

   482

   \return 0 in case of success, else < 0

   483

   \todo documentation

   484

*/

   485

   486

int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */

   487

                           unsigned int index, /**< string index */