1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/delay.h>

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

    45

#include "slave.h"

    46

    47

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

    48

    49

extern const ec_code_msg_t al_status_messages[];

    50

    51

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

    52

    53

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    54

    55

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

    56

    57

/**

    58

   Slave constructor.

    59

   \return 0 in case of success, else < 0

    60

*/

    61

    62

void ec_slave_init(

    63

        ec_slave_t *slave, /**< EtherCAT slave */

    64

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

    65

        uint16_t ring_position, /**< ring position */

    66

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

    67

        )

    68

{

    69

    unsigned int i;

    70

    int ret;

    71

    72

    slave->master = master;

    73

    slave->ring_position = ring_position;

    74

    slave->station_address = station_address;

    75

    slave->effective_alias = 0x0000;

    76

    77

    slave->config = NULL;

    78

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    79

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    80

    slave->error_flag = 0;

    81

    slave->force_config = 0;

    82

    slave->configured_rx_mailbox_offset = 0x0000;

    83

    slave->configured_rx_mailbox_size = 0x0000;

    84

    slave->configured_tx_mailbox_offset = 0x0000;

    85

    slave->configured_tx_mailbox_size = 0x0000;

    86

    87

    slave->base_type = 0;

    88

    slave->base_revision = 0;

    89

    slave->base_build = 0;

    90

    slave->base_fmmu_count = 0;

    91

    slave->base_sync_count = 0;

    92

    93

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

    94

        slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;

    95

    96

        slave->ports[i].link.link_up = 0;

    97

        slave->ports[i].link.loop_closed = 0;

    98

        slave->ports[i].link.signal_detected = 0;

    99

        slave->sii.physical_layer[i] = 0xFF;

   100

   101

        slave->ports[i].receive_time = 0U;

   102

   103

        slave->ports[i].next_slave = NULL;

   104

        slave->ports[i].delay_to_next_dc = 0U;

   105

    }

   106

   107

    slave->base_fmmu_bit_operation = 0;

   108

    slave->base_dc_supported = 0;

   109

    slave->base_dc_range = EC_DC_32;

   110

    slave->has_dc_system_time = 0;

   111

    slave->transmission_delay = 0U;

   112

   113

    slave->sii_words = NULL;

   114

    slave->sii_nwords = 0;

   115

   116

    slave->sii.alias = 0x0000;

   117

    slave->sii.vendor_id = 0x00000000;

   118

    slave->sii.product_code = 0x00000000;

   119

    slave->sii.revision_number = 0x00000000;

   120

    slave->sii.serial_number = 0x00000000;

   121

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   122

    slave->sii.boot_rx_mailbox_size = 0x0000;

   123

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   124

    slave->sii.boot_tx_mailbox_size = 0x0000;

   125

    slave->sii.std_rx_mailbox_offset = 0x0000;

   126

    slave->sii.std_rx_mailbox_size = 0x0000;

   127

    slave->sii.std_tx_mailbox_offset = 0x0000;

   128

    slave->sii.std_tx_mailbox_size = 0x0000;

   129

    slave->sii.mailbox_protocols = 0;

   130

   131

    slave->sii.strings = NULL;

   132

    slave->sii.string_count = 0;

   133

   134

    slave->sii.has_general = 0;

   135

    slave->sii.group = NULL;

   136

    slave->sii.image = NULL;

   137

    slave->sii.order = NULL;

   138

    slave->sii.name = NULL;

   139

    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));

   140

    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));

   141

    slave->sii.current_on_ebus = 0;

   142

   143

    slave->sii.syncs = NULL;

   144

    slave->sii.sync_count = 0;

   145

   146

    INIT_LIST_HEAD(&slave->sii.pdos);

   147

   148

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   149

   150

    slave->sdo_dictionary_fetched = 0;

   151

    slave->jiffies_preop = 0;

   152

   153

    INIT_LIST_HEAD(&slave->slave_sdo_requests);

   154

    init_waitqueue_head(&slave->sdo_queue);

   155

   156

    INIT_LIST_HEAD(&slave->foe_requests);

   157

    init_waitqueue_head(&slave->foe_queue);

   158

   159

    INIT_LIST_HEAD(&slave->soe_requests);

   160

    init_waitqueue_head(&slave->soe_queue);

   161

   162

    // init state machine datagram

   163

    ec_datagram_init(&slave->fsm_datagram);

   164

    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE,

   165

            "slave%u-fsm", slave->ring_position);

   166

    ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);

   167

    if (ret < 0) {

   168

        ec_datagram_clear(&slave->fsm_datagram);

   169

        EC_SLAVE_ERR(slave, "Failed to allocate FSM datagram.\n");

   170

        return;

   171

    }

   172

   173

    // create state machine object

   174

    ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);

   175

}

   176

   177

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

   178

   179

/**

   180

   Slave destructor.

   181

   Clears and frees a slave object.

   182

*/

   183

   184

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

   185

{

   186

    ec_sdo_t *sdo, *next_sdo;

   187

    unsigned int i;

   188

    ec_pdo_t *pdo, *next_pdo;

   189

   190

    // abort all pending requests

   191

   192

    while (!list_empty(&slave->slave_sdo_requests)) {

   193

        ec_master_sdo_request_t *request =

   194

            list_entry(slave->slave_sdo_requests.next,

   195

                ec_master_sdo_request_t, list);

   196

        list_del_init(&request->list); // dequeue

   197

        EC_SLAVE_WARN(slave, "Discarding SDO request %p,"

   198

                " slave about to be deleted.\n",request);

   199

        request->req.state = EC_INT_REQUEST_FAILURE;

   200

        kref_put(&request->refcount,ec_master_sdo_request_release);

   201

        wake_up(&slave->sdo_queue);

   202

    }

   203

   204

    while (!list_empty(&slave->foe_requests)) {

   205

        ec_master_foe_request_t *request =

   206

            list_entry(slave->foe_requests.next,

   207

                ec_master_foe_request_t, list);

   208

        list_del_init(&request->list); // dequeue

   209

        EC_SLAVE_WARN(slave, "Discarding FoE request,"

   210

                " slave about to be deleted.\n");

   211

        request->req.state = EC_INT_REQUEST_FAILURE;

   212

        kref_put(&request->refcount,ec_master_foe_request_release);

   213

        wake_up(&slave->foe_queue);

   214

    }

   215

   216

    while (!list_empty(&slave->soe_requests)) {

   217

        ec_master_soe_request_t *request =

   218

            list_entry(slave->soe_requests.next,

   219

                ec_master_soe_request_t, list);

   220

        list_del_init(&request->list); // dequeue

   221

        EC_SLAVE_WARN(slave, "Discarding SoE request,"

   222

                " slave about to be deleted.\n");

   223

        request->req.state = EC_INT_REQUEST_FAILURE;

   224

        kref_put(&request->refcount,ec_master_soe_request_release);

   225

        wake_up(&slave->soe_queue);

   226

    }

   227

   228

    if (slave->config)

   229

        ec_slave_config_detach(slave->config);

   230

   231

    // free all SDOs

   232

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

   233

        list_del(&sdo->list);

   234

        ec_sdo_clear(sdo);

   235

        kfree(sdo);

   236

    }

   237

   238

    // free all strings

   239

    if (slave->sii.strings) {

   240

        for (i = 0; i < slave->sii.string_count; i++)

   241

            kfree(slave->sii.strings[i]);

   242

        kfree(slave->sii.strings);

   243

    }

   244

   245

    // free all sync managers

   246

    ec_slave_clear_sync_managers(slave);

   247

   248

    // free all SII PDOs

   249

    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {

   250

        list_del(&pdo->list);

   251

        ec_pdo_clear(pdo);

   252

        kfree(pdo);

   253

    }

   254

   255

    if (slave->sii_words)

   256

        kfree(slave->sii_words);

   257

    ec_fsm_slave_clear(&slave->fsm);

   258

    ec_datagram_clear(&slave->fsm_datagram);

   259

}

   260

   261

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

   262

   263

/** Clear the sync manager array. 

   264

 */

   265

void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)

   266

{

   267

    unsigned int i;

   268

   269

    if (slave->sii.syncs) {

   270

        for (i = 0; i < slave->sii.sync_count; i++) {

   271

            ec_sync_clear(&slave->sii.syncs[i]);

   272

        }

   273

        kfree(slave->sii.syncs);

   274

        slave->sii.syncs = NULL;

   275

    }

   276

}

   277

   278

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

   279

   280

/**

   281

 * Sets the application state of a slave.

   282

 */

   283

   284

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

   285

        ec_slave_state_t new_state /**< new application state */

   286

        )

   287

{

   288

    if (new_state != slave->current_state) {

   289

        if (slave->master->debug_level) {

   290

            char old_state[EC_STATE_STRING_SIZE],

   291

                cur_state[EC_STATE_STRING_SIZE];

   292

            ec_state_string(slave->current_state, old_state, 0);

   293

            ec_state_string(new_state, cur_state, 0);

   294

            EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);

   295

        }

   296

        slave->current_state = new_state;

   297

    }

   298

}

   299

   300

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

   301

   302

/**

   303

 * Request a slave state and resets the error flag.

   304

 */

   305

   306

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

   307

                            ec_slave_state_t state /**< new state */

   308

                            )

   309

{

   310

    slave->requested_state = state;

   311

    slave->error_flag = 0;

   312

}

   313

   314

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

   315

   316

/**

   317

   Fetches data from a STRING category.

   318

   \todo range checking

   319

   \return 0 in case of success, else < 0

   320

*/

   321

   322

int ec_slave_fetch_sii_strings(

   323

        ec_slave_t *slave, /**< EtherCAT slave */

   324

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

   325

        size_t data_size /**< number of bytes */

   326

        )

   327

{

   328

    int i, err;

   329

    size_t size;

   330

    off_t offset;

   331

   332

    slave->sii.string_count = data[0];

   333

   334

    if (slave->sii.string_count) {

   335

        if (!(slave->sii.strings =

   336

                    kmalloc(sizeof(char *) * slave->sii.string_count,

   337

                        GFP_KERNEL))) {

   338

            EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");

   339

            err = -ENOMEM;

   340

            goto out_zero;

   341

        }

   342

   343

        offset = 1;

   344

        for (i = 0; i < slave->sii.string_count; i++) {

   345

            size = data[offset];

   346

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

   347

            if (!(slave->sii.strings[i] =

   348

                        kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {

   349

                EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");

   350

                err = -ENOMEM;

   351

                goto out_free;

   352

            }

   353

            memcpy(slave->sii.strings[i], data + offset + 1, size);

   354

            slave->sii.strings[i][size] = 0x00; // append binary zero

   355

            offset += 1 + size;

   356

        }

   357

    }

   358

   359

    return 0;

   360

   361

out_free:

   362

    for (i--; i >= 0; i--)

   363

        kfree(slave->sii.strings[i]);

   364

    kfree(slave->sii.strings);

   365

    slave->sii.strings = NULL;

   366

out_zero:

   367

    slave->sii.string_count = 0;

   368

    return err;

   369

}

   370

   371

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

   372

   373

/**

   374

   Fetches data from a GENERAL category.

   375

   \return 0 in case of success, else < 0

   376

*/

   377

   378

int ec_slave_fetch_sii_general(

   379

        ec_slave_t *slave, /**< EtherCAT slave */

   380

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

   381

        size_t data_size /**< size in bytes */

   382

        )

   383

{

   384

    unsigned int i;

   385

    uint8_t flags;

   386

   387

    if (data_size != 32) {

   388

        EC_SLAVE_ERR(slave, "Wrong size of general category (%zu/32).\n",

   389

                data_size);

   390

        return -EINVAL;

   391

    }

   392

   393

    slave->sii.group = ec_slave_sii_string(slave, data[0]);

   394

    slave->sii.image = ec_slave_sii_string(slave, data[1]);

   395

    slave->sii.order = ec_slave_sii_string(slave, data[2]);

   396

    slave->sii.name = ec_slave_sii_string(slave, data[3]);

   397

   398

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

   399

        slave->sii.physical_layer[i] =

   400

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

   401

   402

    // read CoE details

   403

    flags = EC_READ_U8(data + 5);

   404

    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;

   405

    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;

   406

    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;

   407

    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;

   408

    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;

   409

    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;

   410

   411

    // read general flags

   412

    flags = EC_READ_U8(data + 0x000B);

   413

    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;

   414

    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;

   415

   416

    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);

   417

    slave->sii.has_general = 1;

   418

    return 0;

   419

}

   420

   421

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

   422

   423

/** Fetches data from a SYNC MANAGER category.

   424

 *

   425

 * Appends the sync managers described in the category to the existing ones.

   426

 *

   427

 * \return 0 in case of success, else < 0

   428

 */

   429

int ec_slave_fetch_sii_syncs(

   430

        ec_slave_t *slave, /**< EtherCAT slave. */

   431

        const uint8_t *data, /**< Category data. */

   432

        size_t data_size /**< Number of bytes. */

   433

        )

   434

{

   435

    unsigned int i, count, total_count;

   436

    ec_sync_t *sync;

   437

    size_t memsize;

   438

    ec_sync_t *syncs;

   439

    uint8_t index;

   440

   441

    // one sync manager struct is 4 words long

   442

    if (data_size % 8) {

   443

        EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",

   444

                data_size);

   445

        return -EINVAL;

   446

    }

   447

   448

    count = data_size / 8;

   449

   450

    if (count) {

   451

        total_count = count + slave->sii.sync_count;

   452

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   453

            EC_SLAVE_ERR(slave, "Exceeded maximum number of"

   454

                    " sync managers!\n");

   455

            return -EOVERFLOW;

   456

        }

   457

        memsize = sizeof(ec_sync_t) * total_count;

   458

        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {

   459

            EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"

   460

                    " for sync managers.\n", memsize);

   461

            return -ENOMEM;

   462

        }

   463

   464

        for (i = 0; i < slave->sii.sync_count; i++)

   465

            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);

   466

   467

        // initialize new sync managers

   468

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

   469

            index = i + slave->sii.sync_count;

   470

            sync = &syncs[index];

   471

   472

            ec_sync_init(sync, slave);

   473

            sync->physical_start_address = EC_READ_U16(data);

   474

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

   475

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

   476

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

   477

        }

   478

   479

        if (slave->sii.syncs)

   480

            kfree(slave->sii.syncs);

   481

        slave->sii.syncs = syncs;

   482

        slave->sii.sync_count = total_count;

   483

    }

   484