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

   EtherCAT slave configuration methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

void ec_slave_config_clear(struct kobject *);

    51

ssize_t ec_show_slave_config_attribute(struct kobject *, struct attribute *,

    52

        char *);

    53

    54

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

    55

    56

/** \cond */

    57

    58

EC_SYSFS_READ_ATTR(info);

    59

    60

static struct attribute *def_attrs[] = {

    61

    &attr_info,

    62

    NULL,

    63

};

    64

    65

static struct sysfs_ops sysfs_ops = {

    66

    .show = ec_show_slave_config_attribute

    67

};

    68

    69

static struct kobj_type ktype_ec_slave_config = {

    70

    .release = ec_slave_config_clear,

    71

    .sysfs_ops = &sysfs_ops,

    72

    .default_attrs = def_attrs

    73

};

    74

    75

/** \endcond */

    76

    77

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

    78

    79

/** Slave configuration constructor.

    80

 *

    81

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

    82

 * position parameters.

    83

 *

    84

 * \retval 0 Success.

    85

 * \retval <0 Failure.

    86

 */

    87

int ec_slave_config_init(ec_slave_config_t *sc, /**< Slave configuration. */

    88

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

    89

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

    90

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

    91

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

    92

        uint32_t product_code /**< Expected product code. */

    93

        )

    94

{

    95

    ec_direction_t dir;

    96

    97

    sc->master = master;

    98

    sc->alias = alias;

    99

    sc->position = position;

   100

    sc->vendor_id = vendor_id;

   101

    sc->product_code = product_code;

   102

    sc->slave = NULL;

   103

   104

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

   105

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

   106

   107

    INIT_LIST_HEAD(&sc->sdo_configs);

   108

    INIT_LIST_HEAD(&sc->sdo_requests);

   109

   110

    sc->used_fmmus = 0;

   111

   112

    // init kobject and add it to the hierarchy

   113

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

   114

    kobject_init(&sc->kobj);

   115

    sc->kobj.ktype = &ktype_ec_slave_config;

   116

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

   117

    if (kobject_set_name(&sc->kobj, "config-%u-%u", sc->alias, sc->position)) {

   118

        EC_ERR("Failed to set kobject name for slave config %u:%u.\n",

   119

                sc->alias, sc->position);

   120

        goto out_put;

   121

    }

   122

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

   123

        EC_ERR("Failed to add kobject for slave config %u:%u.\n",

   124

                sc->alias, sc->position);

   125

        goto out_put;

   126

    }

   127

   128

    return 0;

   129

   130

 out_put:

   131

    kobject_put(&sc->kobj);

   132

    return -1;

   133

}

   134

   135

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

   136

   137

/** Slave configuration destructor.

   138

 *

   139

 * Clears and frees a slave configuration object.

   140

 */

   141

void ec_slave_config_destroy(

   142

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

   143

        )

   144

{

   145

    ec_slave_config_detach(sc);

   146

   147

    // destroy self

   148

    kobject_del(&sc->kobj);

   149

    kobject_put(&sc->kobj);

   150

}

   151

   152

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

   153

   154

/** Clear and free the slave configuration.

   155

 * 

   156

 * This method is called by the kobject, once there are no more references to

   157

 * it.

   158

 */

   159

void ec_slave_config_clear(struct kobject *kobj /**< kobject of the config. */)

   160

{

   161

    ec_slave_config_t *sc;

   162

    ec_direction_t dir;

   163

    ec_sdo_request_t *req, *next_req;

   164

   165

    sc = container_of(kobj, ec_slave_config_t, kobj);

   166

   167

    // Free Pdo mappings

   168

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

   169

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

   170

   171

    // free all Sdo configurations

   172

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

   173

        list_del(&req->list);

   174

        ec_sdo_request_clear(req);

   175

        kfree(req);

   176

    }

   177

   178

    // free all Sdo requests

   179

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

   180

        list_del(&req->list);

   181

        ec_sdo_request_clear(req);

   182

        kfree(req);

   183

    }

   184

   185

    kfree(sc);

   186

}

   187

   188

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

   189

   190

/** Prepares an FMMU configuration.

   191

 *

   192

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

   193

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

   194

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

   195

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

   196

 * FMMU configuration is already prepared, the function returns with success.

   197

 *

   198

 * \retval >=0 Logical offset address.

   199

 * \retval -1  FMMU limit reached.

   200

 */

   201

int ec_slave_config_prepare_fmmu(

   202

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

   203

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

   204

        ec_direction_t dir /**< Pdo direction. */

   205

        )

   206

{

   207

    unsigned int i;

   208

    ec_fmmu_config_t *fmmu;

   209

   210

    // FMMU configuration already prepared?

   211

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

   212

        fmmu = &sc->fmmu_configs[i];

   213

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

   214

            return fmmu->logical_start_address;

   215

    }

   216

   217

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   218

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

   219

                sc->alias, sc->position);

   220

        return -1;

   221

    }

   222

   223

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

   224

    ec_fmmu_config_init(fmmu, sc, domain, dir);

   225

    return fmmu->logical_start_address;

   226

}

   227

   228

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

   229

   230

/** Outputs all information about a certain slave configuration.

   231

*/

   232

ssize_t ec_slave_config_info(

   233

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

   234

        char *buffer /**< Output buffer */

   235

        )

   236

{

   237

    char *buf = buffer;

   238

    ec_direction_t dir;

   239

    const ec_pdo_list_t *pdos;

   240

    const ec_pdo_t *pdo;

   241

    const ec_pdo_entry_t *entry;

   242

    char str[20];

   243

    const ec_sdo_request_t *req;

   244

   245

    buf += sprintf(buf, "Alias: 0x%04X (%u)\n", sc->alias, sc->alias);

   246

    buf += sprintf(buf, "Position: %u\n", sc->position);

   247

   248

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

   249

        pdos = &sc->pdos[dir];

   250

   251

        if (!list_empty(&pdos->list)) {

   252

            buf += sprintf(buf, "%s Pdo assignment / mapping:\n",

   253

                    dir == EC_DIR_OUTPUT ? "Output" : "Input");

   254

   255

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

   256

                buf += sprintf(buf, "  %s 0x%04X \"%s\"\n",

   257

                        pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",

   258

                        pdo->index, pdo->name ? pdo->name : "???");

   259

   260

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

   261

                    buf += sprintf(buf, "    0x%04X:%X \"%s\", %u bit\n",

   262

                            entry->index, entry->subindex,

   263

                            entry->name ? entry->name : "???",

   264

                            entry->bit_length);

   265

                }

   266

            }

   267

        }

   268

    }

   269

   270

    // type-cast to avoid warnings on some compilers

   271

    if (!list_empty((struct list_head *) &sc->sdo_configs)) {

   272

        buf += sprintf(buf, "\nSdo configurations:\n");

   273

   274

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

   275

            switch (req->data_size) {

   276

                case 1: sprintf(str, "%u", EC_READ_U8(req->data)); break;

   277

                case 2: sprintf(str, "%u", EC_READ_U16(req->data)); break;

   278

                case 4: sprintf(str, "%u", EC_READ_U32(req->data)); break;

   279

                default: sprintf(str, "(invalid size)"); break;

   280

            }

   281

            buf += sprintf(buf, "  0x%04X:%-3i -> %s\n",

   282

                    req->index, req->subindex, str);

   283

        }

   284

        buf += sprintf(buf, "\n");

   285

    }

   286

   287

    // type-cast to avoid warnings on some compilers

   288

    if (!list_empty((struct list_head *) &sc->sdo_requests)) {

   289

        buf += sprintf(buf, "\nSdo requests:\n");

   290

   291

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

   292

            buf += sprintf(buf, "  0x%04X:%u\n", req->index, req->subindex);

   293

        }

   294

        buf += sprintf(buf, "\n");

   295

    }

   296

   297

    return buf - buffer;

   298

}

   299

   300

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

   301

   302

/** Formats attribute data for SysFS read access.

   303

 *

   304

 * \return number of bytes to read

   305

 */

   306

ssize_t ec_show_slave_config_attribute(

   307

        struct kobject *kobj, /**< Slave configuration's kobject */

   308

        struct attribute *attr, /**< Requested attribute. */

   309

        char *buffer /**< Memory to store data. */

   310

        )

   311

{

   312

    ec_slave_config_t *sc = container_of(kobj, ec_slave_config_t, kobj);

   313

   314

    if (attr == &attr_info) {

   315

        return ec_slave_config_info(sc, buffer);

   316

    }

   317

   318

    return 0;

   319

}

   320

   321

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

   322

   323

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

   324

 *

   325

 * \retval 0 Success.

   326

 * \retval -1 Slave not found.

   327

 * \retval -2 Slave already configured.

   328

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

   329

 */

   330

int ec_slave_config_attach(

   331

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

   332

        )

   333

{

   334

	ec_slave_t *slave;

   335

	unsigned int alias_found = 0, relative_position = 0;

   336

   337

	if (sc->slave)

   338

		return 0; // already attached

   339

   340

	list_for_each_entry(slave, &sc->master->slaves, list) {

   341

		if (!alias_found) {

   342

			if (sc->alias && slave->sii.alias != sc->alias)

   343

				continue;

   344

			alias_found = 1;

   345

			relative_position = 0;

   346

		}

   347

		if (relative_position == sc->position)

   348

			goto found;

   349

		relative_position++;

   350

	}

   351

   352

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

   353

			sc->alias, sc->position);

   354

	return -1;

   355

   356

found:

   357

	if (slave->config) {

   358

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

   359

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

   360

				sc->position, slave->ring_position);

   361

		return -2;

   362

	}

   363

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

   364

			|| slave->sii.product_code != sc->product_code) {

   365

		EC_ERR("Slave %u has an invalid type (0x%08X/0x%08X) for"

   366

				" configuration %u:%u (0x%08X/0x%08X).\n",

   367

				slave->ring_position, slave->sii.vendor_id,

   368

				slave->sii.product_code, sc->alias, sc->position,

   369

				sc->vendor_id, sc->product_code);

   370

		return -3;

   371

	}

   372

   373

	// attach slave

   374

	slave->config = sc;

   375

	sc->slave = slave;

   376

   377

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   378

   379

	return 0;

   380

}

   381

   382

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

   383

   384

/** Detaches the configuration from a slave object.

   385

 */

   386

void ec_slave_config_detach(

   387

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

   388

        )

   389

{

   390

    if (sc->slave) {

   391

        sc->slave->config = NULL;

   392

        sc->slave = NULL;

   393

    }

   394

}

   395

   396

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

   397

   398

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

   399

 */

   400

void ec_slave_config_load_default_assignment(ec_slave_config_t *sc)

   401

{

   402

    ec_direction_t dir;

   403

    ec_pdo_list_t *pdos;

   404

    ec_sync_t *sync;

   405

   406

    if (!sc->slave)

   407

        return;

   408

   409

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

   410

        pdos = &sc->pdos[dir];

   411

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

   412

            ec_pdo_list_copy(pdos, &sync->pdos);

   413

    }

   414

}

   415

   416

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

   417

   418

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

   419

 */

   420

void ec_slave_config_load_default_mapping(

   421

        const ec_slave_config_t *sc,

   422

        ec_pdo_t *pdo

   423

        )

   424

{

   425

    const ec_sync_t *sync;

   426

    const ec_pdo_t *default_pdo;

   427

   428

    if (sc->master->debug_level)

   429

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

   430

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

   431

   432

    pdo->default_config = 1;

   433

   434

    if (!sc->slave) {

   435

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

   436

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

   437

        return;

   438

    }

   439

   440

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

   441

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

   442

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

   443

        return;

   444

    }

   445

   446

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

   447

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

   448

            continue;

   449

   450

        if (sc->master->debug_level)

   451

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

   452

                    default_pdo->name);

   453

   454

        // try to take Pdo name from mapped one

   455

        ec_pdo_set_name(pdo, default_pdo->name);

   456

   457

        // copy entries (= default Pdo configuration)

   458

        if (ec_pdo_copy_entries(pdo, default_pdo))

   459

            return;

   460

   461

        if (sc->master->debug_level) {

   462

            const ec_pdo_entry_t *entry;

   463

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

   464

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

   465

                        entry->index, entry->subindex);

   466

            }

   467

        }

   468

    }

   469

}

   470

   471

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

   472

 *  Realtime interface

   473

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

   474

   475

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   476

        ec_direction_t dir, uint16_t index)

   477

{

   478

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

   479

    ec_pdo_t *pdo;

   480

   481

    if (sc->master->debug_level)

   482

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

   483

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

   484

   485

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

   486

        return -1;

   487

   488

    ec_slave_config_load_default_mapping(sc, pdo);

   489

    return 0;

   490

}

   491

   492

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

   493

   494

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   495

        ec_direction_t dir)

   496

{

   497

    if (sc->master->debug_level)

   498

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

   499

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

   500

   501

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

   502

}

   503

   504

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

   505

   506

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   507

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   508

        uint8_t entry_bit_length)

   509

{

   510

    ec_direction_t dir;

   511

    ec_pdo_t *pdo;

   512

   513

    if (sc->master->debug_level)

   514

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

   515

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