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

     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

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 *  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

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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/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_mapping_init(&sc->mapping[dir]);

   106

   107

    INIT_LIST_HEAD(&sc->sdo_configs);

   108

   109

    sc->used_fmmus = 0;

   110

   111

    // init kobject and add it to the hierarchy

   112

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

   113

    kobject_init(&sc->kobj);

   114

    sc->kobj.ktype = &ktype_ec_slave_config;

   115

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

   116

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

   117

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

   118

                sc->alias, sc->position);

   119

        goto out_put;

   120

    }

   121

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

   122

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

   123

                sc->alias, sc->position);

   124

        goto out_put;

   125

    }

   126

   127

    return 0;

   128

   129

 out_put:

   130

    kobject_put(&sc->kobj);

   131

    return -1;

   132

}

   133

   134

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

   135

   136

/** Slave configuration destructor.

   137

 *

   138

 * Clears and frees a slave configuration object.

   139

 */

   140

void ec_slave_config_destroy(

   141

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

   142

        )

   143

{

   144

    ec_slave_config_detach(sc);

   145

   146

    // destroy self

   147

    kobject_del(&sc->kobj);

   148

    kobject_put(&sc->kobj);

   149

}

   150

   151

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

   152

   153

/** Clear and free the slave configuration.

   154

 * 

   155

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

   156

 * it.

   157

 */

   158

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

   159

{

   160

    ec_slave_config_t *sc;

   161

    ec_direction_t dir;

   162

    ec_sdo_data_t *sdodata, *next_sdodata;

   163

   164

    sc = container_of(kobj, ec_slave_config_t, kobj);

   165

   166

    // Free Pdo mappings

   167

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

   168

        ec_pdo_mapping_clear(&sc->mapping[dir]);

   169

   170

    // free all SDO configurations

   171

    list_for_each_entry_safe(sdodata, next_sdodata, &sc->sdo_configs, list) {

   172

        list_del(&sdodata->list);

   173

        kfree(sdodata->data);

   174

        kfree(sdodata);

   175

    }

   176

   177

    /** \todo */

   178

   179

    kfree(sc);

   180

}

   181

   182

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

   183

   184

/** Prepares an FMMU configuration.

   185

 *

   186

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

   187

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

   188

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

   189

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

   190

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

   191

 *

   192

 * \retval >=0 Logical offset address.

   193

 * \retval -1  FMMU limit reached.

   194

 */

   195

int ec_slave_config_prepare_fmmu(

   196

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

   197

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

   198

        ec_direction_t dir /**< PDO direction. */

   199

        )

   200

{

   201

    unsigned int i;

   202

    ec_fmmu_config_t *fmmu;

   203

   204

    // FMMU configuration already prepared?

   205

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

   206

        fmmu = &sc->fmmu_configs[i];

   207

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

   208

            return fmmu->logical_start_address;

   209

    }

   210

   211

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   212

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

   213

                sc->alias, sc->position);

   214

        return -1;

   215

    }

   216

   217

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

   218

    ec_fmmu_config_init(fmmu, sc, domain, dir);

   219

    return fmmu->logical_start_address;

   220

}

   221

   222

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

   223

   224

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

   225

*/

   226

ssize_t ec_slave_config_info(

   227

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

   228

        char *buffer /**< Output buffer */

   229

        )

   230

{

   231

    char *buf = buffer;

   232

    ec_direction_t dir;

   233

    const ec_pdo_mapping_t *map;

   234

    const ec_pdo_t *pdo;

   235

    const ec_pdo_entry_t *entry;

   236

    char str[20];

   237

    ec_sdo_data_t *sdodata;

   238

   239

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

   240

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

   241

   242

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

   243

        map = &sc->mapping[dir];

   244

   245

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

   246

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

   247

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

   248

   249

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

   250

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

   251

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

   252

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

   253

   254

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

   255

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

   256

                            entry->index, entry->subindex,

   257

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

   258

                            entry->bit_length);

   259

                }

   260

            }

   261

        }

   262

    }

   263

   264

    // type-cast to avoid warnings on some compilers

   265

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

   266

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

   267

   268

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

   269

            switch (sdodata->size) {

   270

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

   271

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

   272

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

   273

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

   274

            }

   275

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

   276

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

   277

        }

   278

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

   279

    }

   280

   281

    return buf - buffer;

   282

}

   283

   284

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

   285

   286

/** Formats attribute data for SysFS read access.

   287

 *

   288

 * \return number of bytes to read

   289

 */

   290

ssize_t ec_show_slave_config_attribute(

   291

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

   292

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

   293

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

   294

        )

   295

{

   296

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

   297

   298

    if (attr == &attr_info) {

   299

        return ec_slave_config_info(sc, buffer);

   300

    }

   301

   302

    return 0;

   303

}

   304

   305

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

   306

   307

/** Adds an SDO configuration.

   308

 */

   309

int ec_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,

   310

        uint8_t subindex, const uint8_t *data, size_t size)

   311

{

   312

    ec_slave_t *slave = sc->slave;

   313

    ec_sdo_data_t *sdodata;

   314

   315

    if (slave && !(slave->sii_mailbox_protocols & EC_MBOX_COE)) {

   316

        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);

   317

        return -1;

   318

    }

   319

   320

    if (!(sdodata = (ec_sdo_data_t *)

   321

          kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {

   322

        EC_ERR("Failed to allocate memory for SDO configuration object!\n");

   323

        return -1;

   324

    }

   325

   326

    if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {

   327

        EC_ERR("Failed to allocate memory for SDO configuration data!\n");

   328

        kfree(sdodata);

   329

        return -1;

   330

    }

   331

   332

    sdodata->index = index;

   333

    sdodata->subindex = subindex;

   334

    memcpy(sdodata->data, data, size);

   335

    sdodata->size = size;

   336

   337

    list_add_tail(&sdodata->list, &sc->sdo_configs);

   338

    return 0;

   339

}

   340

   341

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

   342

   343

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

   344

 *

   345

 * \retval 0 Success.

   346

 * \retval -1 Slave not found.

   347

 * \retval -2 Slave already configured.

   348

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

   349

 */

   350

int ec_slave_config_attach(

   351

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

   352

        )

   353

{

   354

	ec_slave_t *slave;

   355

	unsigned int alias_found = 0, relative_position = 0;

   356

   357

	if (sc->slave)

   358

		return 0; // already attached

   359

   360

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

   361

		if (!alias_found) {

   362

			if (sc->alias && slave->sii_alias != sc->alias)

   363

				continue;

   364

			alias_found = 1;

   365

			relative_position = 0;

   366

		}

   367

		if (relative_position == sc->position)

   368

			goto found;

   369

		relative_position++;

   370

	}

   371

   372

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

   373

			sc->alias, sc->position);

   374

	return -1;

   375

   376

found:

   377

	if (slave->config) {

   378

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

   379

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

   380

				sc->position, slave->ring_position);

   381

		return -2;

   382

	}

   383

	if (slave->sii_vendor_id != sc->vendor_id

   384

			|| slave->sii_product_code != sc->product_code) {

   385

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

   386

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

   387

				slave->ring_position, slave->sii_vendor_id,

   388

				slave->sii_product_code, sc->alias, sc->position,

   389

				sc->vendor_id, sc->product_code);

   390

		return -3;

   391

	}

   392

   393

	// attach slave

   394

	slave->config = sc;

   395

	sc->slave = slave;

   396

   397

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   398

   399

	return 0;

   400

}

   401

   402

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

   403

   404

/** Detaches the configuration from a slave object.

   405

 */

   406

void ec_slave_config_detach(

   407

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

   408

        )

   409

{

   410

    if (sc->slave) {

   411

        sc->slave->config = NULL;

   412

        sc->slave = NULL;

   413

    }

   414

}

   415

   416

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

   417

   418

/** Loads the default mapping from the slave object.

   419

 */

   420

void ec_slave_config_load_default_mapping(ec_slave_config_t *sc)

   421

{

   422

    ec_direction_t dir;

   423

    ec_pdo_mapping_t *map;

   424

    ec_sync_t *sync;

   425

   426

    if (!sc->slave)

   427

        return;

   428

   429

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

   430

        map = &sc->mapping[dir];

   431

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

   432

            continue;

   433

        ec_pdo_mapping_copy(map, &sync->mapping);

   434

    }

   435

}

   436

   437

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

   438

 *  Realtime interface

   439

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

   440

   441

int ecrt_slave_config_mapping(ec_slave_config_t *sc, unsigned int n_entries,

   442

        const ec_pdo_info_t pdo_infos[])

   443

{

   444

    unsigned int i;

   445

   446

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

   447

        if (ec_pdo_mapping_add_pdo_info(&sc->mapping[pdo_infos[i].dir],

   448

                    &pdo_infos[i], sc))

   449

            return -1;

   450

   451

    return 0;

   452

}

   453

   454

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

   455

   456

int ecrt_slave_config_reg_pdo_entry(

   457

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

   458

        uint16_t index, /**< Index of Pdo entry to register. */

   459

        uint8_t subindex, /**< Subindex of Pdo entry to register. */

   460

        ec_domain_t *domain /**< Domain. */

   461

        )

   462

{

   463

    ec_direction_t dir;

   464

    ec_pdo_mapping_t *map;

   465

    unsigned int bit_offset, byte_offset;

   466

    ec_pdo_t *pdo;

   467

    ec_pdo_entry_t *entry;

   468

    int ret;

   469

   470

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

   471

        map = &sc->mapping[dir];

   472

        bit_offset = 0;

   473

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

   474

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

   475

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

   476

                    bit_offset += entry->bit_length;

   477

                } else {

   478

                    goto found;

   479

                }

   480

            }

   481

        }

   482

    }

   483

   484

    EC_ERR("PDO entry 0x%04X:%u is not mapped in slave config %u:%u.\n",

   485

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

   486

    return -1;

   487

   488

found:

   489

    byte_offset = bit_offset / 8;

   490

    if ((ret = ec_slave_config_prepare_fmmu(sc, domain, dir)) < 0)

   491

        return -2;

   492

    return ret + byte_offset;

   493

}

   494

   495

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

   496

   497

int ecrt_slave_config_sdo8(ec_slave_config_t *slave, uint16_t index,

   498

        uint8_t subindex, uint8_t value)

   499

{

   500

    uint8_t data[1];

   501

    EC_WRITE_U8(data, value);

   502

    return ec_slave_config_sdo(slave, index, subindex, data, 1);

   503

}

   504

   505

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

   506

   507

int ecrt_slave_config_sdo16(ec_slave_config_t *slave, uint16_t index,

   508

        uint8_t subindex, uint16_t value)

   509

{

   510

    uint8_t data[2];

   511

    EC_WRITE_U16(data, value);

   512

    return ec_slave_config_sdo(slave, index, subindex, data, 2);

   513

}

   514

   515

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

   516

   517

int ecrt_slave_config_sdo32(ec_slave_config_t *slave, uint16_t index,

   518

        uint8_t subindex, uint32_t value)

   519

{

   520

    uint8_t data[4];

   521

    EC_WRITE_U32(data, value);

   522

    return ec_slave_config_sdo(slave, index, subindex, data, 4);

   523

}

   524

   525

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

   526