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

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 *  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

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

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 *

    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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    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

        ec_device_index_t dev_idx, /**< Device index. */

    66

        uint16_t ring_position, /**< ring position */

    67

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

    68

        )

    69

{

    70

    unsigned int i;

    71

    int ret;

    72

    73

    slave->master = master;

    74

    slave->device_index = dev_idx;

    75

    slave->ring_position = ring_position;

    76

    slave->station_address = station_address;

    77

    slave->effective_alias = 0x0000;

    78

    79

    slave->config = NULL;

    80

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    81

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    82

    slave->error_flag = 0;

    83

    slave->force_config = 0;

    84

    slave->configured_rx_mailbox_offset = 0x0000;

    85

    slave->configured_rx_mailbox_size = 0x0000;

    86

    slave->configured_tx_mailbox_offset = 0x0000;

    87

    slave->configured_tx_mailbox_size = 0x0000;

    88

    89

    slave->base_type = 0;

    90

    slave->base_revision = 0;

    91

    slave->base_build = 0;

    92

    slave->base_fmmu_count = 0;

    93

    slave->base_sync_count = 0;

    94

    95

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

    96

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

    97

    98

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

    99

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

   100

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

   101

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

   102

   103

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

   104

   105

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

   106

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

   107

    }

   108

   109

    slave->base_fmmu_bit_operation = 0;

   110

    slave->base_dc_supported = 0;

   111

    slave->base_dc_range = EC_DC_32;

   112

    slave->has_dc_system_time = 0;

   113

    slave->transmission_delay = 0U;

   114

   115

    slave->sii_words = NULL;

   116

    slave->sii_nwords = 0;

   117

   118

    slave->sii.alias = 0x0000;

   119

    slave->sii.vendor_id = 0x00000000;

   120

    slave->sii.product_code = 0x00000000;

   121

    slave->sii.revision_number = 0x00000000;

   122

    slave->sii.serial_number = 0x00000000;

   123

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   124

    slave->sii.boot_rx_mailbox_size = 0x0000;

   125

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   126

    slave->sii.boot_tx_mailbox_size = 0x0000;

   127

    slave->sii.std_rx_mailbox_offset = 0x0000;

   128

    slave->sii.std_rx_mailbox_size = 0x0000;

   129

    slave->sii.std_tx_mailbox_offset = 0x0000;

   130

    slave->sii.std_tx_mailbox_size = 0x0000;

   131

    slave->sii.mailbox_protocols = 0;

   132

   133

    slave->sii.strings = NULL;

   134

    slave->sii.string_count = 0;

   135

   136

    slave->sii.has_general = 0;

   137

    slave->sii.group = NULL;

   138

    slave->sii.image = NULL;

   139

    slave->sii.order = NULL;

   140

    slave->sii.name = NULL;

   141

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

   142

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

   143

    slave->sii.current_on_ebus = 0;

   144

   145

    slave->sii.syncs = NULL;

   146

    slave->sii.sync_count = 0;

   147

   148

    INIT_LIST_HEAD(&slave->sii.pdos);

   149

   150

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   151

   152

    slave->sdo_dictionary_fetched = 0;

   153

    slave->jiffies_preop = 0;

   154

   155

    INIT_LIST_HEAD(&slave->slave_sdo_requests);

   156

    init_waitqueue_head(&slave->sdo_queue);

   157

   158

    INIT_LIST_HEAD(&slave->foe_requests);

   159

    init_waitqueue_head(&slave->foe_queue);

   160

   161

    INIT_LIST_HEAD(&slave->soe_requests);

   162

    init_waitqueue_head(&slave->soe_queue);

   163

   164

    // init state machine datagram

   165

    ec_datagram_init(&slave->fsm_datagram);

   166

    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE,

   167

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

   168

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

   169

    if (ret < 0) {

   170

        ec_datagram_clear(&slave->fsm_datagram);

   171

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

   172

        return;

   173

    }

   174

   175

    // create state machine object

   176

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

   177

}

   178

   179

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

   180

   181

/**

   182

   Slave destructor.

   183

   Clears and frees a slave object.

   184

*/

   185

   186

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

   187

{

   188

    ec_sdo_t *sdo, *next_sdo;

   189

    unsigned int i;

   190

    ec_pdo_t *pdo, *next_pdo;

   191

   192

    // abort all pending requests

   193

   194

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

   195

        ec_master_sdo_request_t *request =

   196

            list_entry(slave->slave_sdo_requests.next,

   197

                ec_master_sdo_request_t, list);

   198

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

   199

        EC_SLAVE_WARN(slave, "Discarding SDO request,"

   200

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

   201

        request->req.state = EC_INT_REQUEST_FAILURE;

   202

        wake_up(&slave->sdo_queue);

   203

    }

   204

   205

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

   206

        ec_master_foe_request_t *request =

   207

            list_entry(slave->foe_requests.next,

   208

                ec_master_foe_request_t, list);

   209

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

   210

        EC_SLAVE_WARN(slave, "Discarding FoE request,"

   211

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

   212

        request->req.state = EC_INT_REQUEST_FAILURE;

   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

        wake_up(&slave->soe_queue);

   225

    }

   226

   227

    if (slave->config)

   228

        ec_slave_config_detach(slave->config);

   229

   230

    // free all SDOs

   231

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

   232

        list_del(&sdo->list);

   233

        ec_sdo_clear(sdo);

   234

        kfree(sdo);

   235

    }

   236

   237

    // free all strings

   238

    if (slave->sii.strings) {

   239

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

   240

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

   241

        kfree(slave->sii.strings);

   242

    }

   243

   244

    // free all sync managers

   245

    ec_slave_clear_sync_managers(slave);

   246

   247

    // free all SII PDOs

   248

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

   249

        list_del(&pdo->list);

   250

        ec_pdo_clear(pdo);

   251

        kfree(pdo);

   252

    }

   253

   254

    if (slave->sii_words)

   255

        kfree(slave->sii_words);

   256

    ec_fsm_slave_clear(&slave->fsm);

   257

    ec_datagram_clear(&slave->fsm_datagram);

   258

}

   259

   260

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

   261

   262

/** Clear the sync manager array. 

   263

 */

   264

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

   265

{

   266

    unsigned int i;

   267

   268

    if (slave->sii.syncs) {

   269

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

   270

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

   271

        }

   272

        kfree(slave->sii.syncs);

   273

        slave->sii.syncs = NULL;

   274

    }

   275

}

   276

   277

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

   278

   279

/**

   280

 * Sets the application state of a slave.

   281

 */

   282

   283

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

   284

        ec_slave_state_t new_state /**< new application state */

   285

        )

   286

{

   287

    if (new_state != slave->current_state) {

   288

        if (slave->master->debug_level) {

   289

            char old_state[EC_STATE_STRING_SIZE],

   290

                cur_state[EC_STATE_STRING_SIZE];

   291

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

   292

            ec_state_string(new_state, cur_state, 0);

   293

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

   294

        }

   295

        slave->current_state = new_state;

   296

    }

   297

}

   298

   299

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

   300

   301

/**

   302

 * Request a slave state and resets the error flag.

   303

 */

   304

   305

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

   306

                            ec_slave_state_t state /**< new state */

   307

                            )

   308

{

   309

    slave->requested_state = state;

   310

    slave->error_flag = 0;

   311

}

   312

   313

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

   314

   315

/**

   316

   Fetches data from a STRING category.

   317

   \todo range checking

   318

   \return 0 in case of success, else < 0

   319

*/

   320

   321

int ec_slave_fetch_sii_strings(

   322

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

   323

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

   324

        size_t data_size /**< number of bytes */

   325

        )

   326

{

   327

    int i, err;

   328

    size_t size;

   329

    off_t offset;

   330

   331

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

   332

   333

    if (slave->sii.string_count) {

   334

        if (!(slave->sii.strings =

   335

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

   336

                        GFP_KERNEL))) {

   337

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

   338

            err = -ENOMEM;

   339

            goto out_zero;

   340

        }

   341

   342

        offset = 1;

   343

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

   344

            size = data[offset];

   345

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

   346

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

   347

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

   348

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

   349

                err = -ENOMEM;

   350

                goto out_free;

   351

            }

   352

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

   353

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

   354

            offset += 1 + size;

   355

        }

   356

    }

   357

   358

    return 0;

   359

   360

out_free:

   361

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

   362

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

   363

    kfree(slave->sii.strings);

   364

    slave->sii.strings = NULL;

   365

out_zero:

   366

    slave->sii.string_count = 0;

   367

    return err;

   368

}

   369

   370

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

   371

   372

/**

   373

   Fetches data from a GENERAL category.

   374

   \return 0 in case of success, else < 0

   375

*/

   376

   377

int ec_slave_fetch_sii_general(

   378

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

   379

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

   380

        size_t data_size /**< size in bytes */

   381

        )

   382

{

   383

    unsigned int i;

   384

    uint8_t flags;

   385

   386

    if (data_size != 32) {

   387

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

   388

                data_size);

   389

        return -EINVAL;

   390

    }

   391

   392

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

   393

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

   394

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

   395

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

   396

   397

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

   398

        slave->sii.physical_layer[i] =

   399

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

   400

   401

    // read CoE details

   402

    flags = EC_READ_U8(data + 5);

   403

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

   404

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

   405

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

   406

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

   407

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

   408

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

   409

   410

    // read general flags

   411

    flags = EC_READ_U8(data + 0x000B);

   412

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

   413

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

   414

   415

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

   416

    slave->sii.has_general = 1;

   417

    return 0;

   418

}

   419

   420

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

   421

   422

/** Fetches data from a SYNC MANAGER category.

   423

 *

   424

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

   425

 *

   426

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

   427

 */

   428

int ec_slave_fetch_sii_syncs(

   429

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

   430

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

   431

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

   432

        )

   433

{

   434

    unsigned int i, count, total_count;

   435

    ec_sync_t *sync;

   436

    size_t memsize;

   437

    ec_sync_t *syncs;

   438

    uint8_t index;

   439

   440

    // one sync manager struct is 4 words long

   441

    if (data_size % 8) {

   442

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

   443

                data_size);

   444

        return -EINVAL;

   445

    }

   446

   447

    count = data_size / 8;

   448

   449

    if (count) {

   450

        total_count = count + slave->sii.sync_count;

   451

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   452

            EC_SLAVE_ERR(slave, "Exceeded maximum number of"

   453

                    " sync managers!\n");

   454

            return -EOVERFLOW;

   455

        }

   456

        memsize = sizeof(ec_sync_t) * total_count;

   457

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

   458

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

   459

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

   460

            return -ENOMEM;

   461

        }

   462

   463

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

   464

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

   465

   466

        // initialize new sync managers

   467

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

   468

            index = i + slave->sii.sync_count;

   469

            sync = &syncs[index];

   470

   471

            ec_sync_init(sync, slave);

   472

            sync->physical_start_address = EC_READ_U16(data);

   473

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

   474

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

   475

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

   476

        }

   477

   478

        if (slave->sii.syncs)

   479

            kfree(slave->sii.syncs);

   480

        slave->sii.syncs = syncs;

   481

        slave->sii.sync_count = total_count;

   482

    }

   483

   484

    return 0;