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

    11

 *  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

    76

    slave->config = NULL;

    77

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    78

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    79

    slave->error_flag = 0;

    80

    slave->force_config = 0;

    81

    slave->configured_rx_mailbox_offset = 0x0000;

    82

    slave->configured_rx_mailbox_size = 0x0000;

    83

    slave->configured_tx_mailbox_offset = 0x0000;

    84

    slave->configured_tx_mailbox_size = 0x0000;

    85

    86

    slave->base_type = 0;

    87

    slave->base_revision = 0;

    88

    slave->base_build = 0;

    89

    slave->base_fmmu_count = 0;

    90

    slave->base_sync_count = 0;

    91

    92

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

    93

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

    94

    95

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

    96

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

    97

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

    98

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

    99

   100

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

   101

   102

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

   103

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

   104

    }

   105

   106

    slave->base_fmmu_bit_operation = 0;

   107

    slave->base_dc_supported = 0;

   108

    slave->base_dc_range = EC_DC_32;

   109

    slave->has_dc_system_time = 0;

   110

    slave->transmission_delay = 0U;

   111

   112

    slave->sii_words = NULL;

   113

    slave->sii_nwords = 0;

   114

   115

    slave->sii.alias = 0x0000;

   116

    slave->sii.vendor_id = 0x00000000;

   117

    slave->sii.product_code = 0x00000000;

   118

    slave->sii.revision_number = 0x00000000;

   119

    slave->sii.serial_number = 0x00000000;

   120

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   121

    slave->sii.boot_rx_mailbox_size = 0x0000;

   122

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   123

    slave->sii.boot_tx_mailbox_size = 0x0000;

   124

    slave->sii.std_rx_mailbox_offset = 0x0000;

   125

    slave->sii.std_rx_mailbox_size = 0x0000;

   126

    slave->sii.std_tx_mailbox_offset = 0x0000;

   127

    slave->sii.std_tx_mailbox_size = 0x0000;

   128

    slave->sii.mailbox_protocols = 0;

   129

   130

    slave->sii.strings = NULL;

   131

    slave->sii.string_count = 0;

   132

   133

    slave->sii.has_general = 0;

   134

    slave->sii.group = NULL;

   135

    slave->sii.image = NULL;

   136

    slave->sii.order = NULL;

   137

    slave->sii.name = NULL;

   138

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

   139

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

   140

    slave->sii.current_on_ebus = 0;

   141

   142

    slave->sii.syncs = NULL;

   143

    slave->sii.sync_count = 0;

   144

   145

    INIT_LIST_HEAD(&slave->sii.pdos);

   146

   147

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   148

   149

    slave->sdo_dictionary_fetched = 0;

   150

    slave->jiffies_preop = 0;

   151

   152

    // init state machine datagram

   153

    ec_datagram_init(&slave->fsm_datagram);

   154

    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "slave%u-fsm",slave->ring_position);

   155

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

   156

    if (ret < 0) {

   157

        ec_datagram_clear(&slave->fsm_datagram);

   158

        EC_ERR("Failed to allocate Slave %u FSM datagram.\n",slave->ring_position);

   159

        return;

   160

    }

   161

   162

    // create state machine object

   163

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

   164

   165

}

   166

   167

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

   168

   169

/**

   170

   Slave destructor.

   171

   Clears and frees a slave object.

   172

*/

   173

   174

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

   175

{

   176

    ec_sdo_t *sdo, *next_sdo;

   177

    unsigned int i;

   178

    ec_pdo_t *pdo, *next_pdo;

   179

   180

    if (slave->config)

   181

        ec_slave_config_detach(slave->config);

   182

   183

    // free all SDOs

   184

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

   185

        list_del(&sdo->list);

   186

        ec_sdo_clear(sdo);

   187

        kfree(sdo);

   188

    }

   189

   190

    // free all strings

   191

    if (slave->sii.strings) {

   192

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

   193

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

   194

        kfree(slave->sii.strings);

   195

    }

   196

   197

    // free all sync managers

   198

    ec_slave_clear_sync_managers(slave);

   199

   200

    // free all SII PDOs

   201

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

   202

        list_del(&pdo->list);

   203

        ec_pdo_clear(pdo);

   204

        kfree(pdo);

   205

    }

   206

   207

    if (slave->sii_words)

   208

        kfree(slave->sii_words);

   209

    ec_fsm_slave_clear(&slave->fsm);

   210

    ec_datagram_clear(&slave->fsm_datagram);

   211

   212

}

   213

   214

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

   215

   216

/** Clear the sync manager array. 

   217

 */

   218

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

   219

{

   220

    unsigned int i;

   221

   222

    if (slave->sii.syncs) {

   223

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

   224

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

   225

        }

   226

        kfree(slave->sii.syncs);

   227

        slave->sii.syncs = NULL;

   228

    }

   229

}

   230

   231

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

   232

   233

/**

   234

 * Sets the application state of a slave.

   235

 */

   236

   237

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

   238

        ec_slave_state_t new_state /**< new application state */

   239

        )

   240

{

   241

    if (new_state != slave->current_state) {

   242

        if (slave->master->debug_level) {

   243

            char old_state[EC_STATE_STRING_SIZE],

   244

                cur_state[EC_STATE_STRING_SIZE];

   245

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

   246

            ec_state_string(new_state, cur_state, 0);

   247

            EC_DBG("Slave %u: %s -> %s.\n",

   248

                   slave->ring_position, old_state, cur_state);

   249

        }

   250

        slave->current_state = new_state;

   251

    }

   252

}

   253

   254

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

   255

   256

/**

   257

 * Request a slave state and resets the error flag.

   258

 */

   259

   260

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

   261

                            ec_slave_state_t state /**< new state */

   262

                            )

   263

{

   264

    slave->requested_state = state;

   265

    slave->error_flag = 0;

   266

}

   267

   268

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

   269

   270

/**

   271

   Fetches data from a STRING category.

   272

   \todo range checking

   273

   \return 0 in case of success, else < 0

   274

*/

   275

   276

int ec_slave_fetch_sii_strings(

   277

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

   278

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

   279

        size_t data_size /**< number of bytes */

   280

        )

   281

{

   282

    int i, err;

   283

    size_t size;

   284

    off_t offset;

   285

   286

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

   287

   288

    if (slave->sii.string_count) {

   289

        if (!(slave->sii.strings =

   290

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

   291

                        GFP_KERNEL))) {

   292

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

   293

            err = -ENOMEM;

   294

            goto out_zero;

   295

        }

   296

   297

        offset = 1;

   298

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

   299

            size = data[offset];

   300

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

   301

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

   302

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

   303

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

   304

                err = -ENOMEM;

   305

                goto out_free;

   306

            }

   307

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

   308

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

   309

            offset += 1 + size;

   310

        }

   311

    }

   312

   313

    return 0;

   314

   315

out_free:

   316

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

   317

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

   318

    kfree(slave->sii.strings);

   319

    slave->sii.strings = NULL;

   320

out_zero:

   321

    slave->sii.string_count = 0;

   322

    return err;

   323

}

   324

   325

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

   326

   327

/**

   328

   Fetches data from a GENERAL category.

   329

   \return 0 in case of success, else < 0

   330

*/

   331

   332

int ec_slave_fetch_sii_general(

   333

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

   334

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

   335

        size_t data_size /**< size in bytes */

   336

        )

   337

{

   338

    unsigned int i;

   339

    uint8_t flags;

   340

   341

    if (data_size != 32) {

   342

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

   343

                data_size, slave->ring_position);

   344

        return -EINVAL;

   345

    }

   346

   347

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

   348

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

   349

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

   350

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

   351

   352

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

   353

        slave->sii.physical_layer[i] =

   354

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

   355

   356

    // read CoE details

   357

    flags = EC_READ_U8(data + 5);

   358

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

   359

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

   360

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

   361

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

   362

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

   363

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

   364

   365

    // read general flags

   366

    flags = EC_READ_U8(data + 0x000B);

   367

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

   368

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

   369

   370

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

   371

    slave->sii.has_general = 1;

   372

    return 0;

   373

}

   374

   375

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

   376

   377

/** Fetches data from a SYNC MANAGER category.

   378

 *

   379

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

   380

 *

   381

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

   382

 */

   383

int ec_slave_fetch_sii_syncs(

   384

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

   385

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

   386

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

   387

        )

   388

{

   389

    unsigned int i, count, total_count;

   390

    ec_sync_t *sync;

   391

    size_t memsize;

   392

    ec_sync_t *syncs;

   393

    uint8_t index;

   394

   395

    // one sync manager struct is 4 words long

   396

    if (data_size % 8) {

   397

        EC_ERR("Invalid SII sync manager category size %zu in slave %u.\n",

   398

                data_size, slave->ring_position);

   399

        return -EINVAL;

   400

    }

   401

   402

    count = data_size / 8;

   403

   404

    if (count) {

   405

        total_count = count + slave->sii.sync_count;

   406

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   407

            EC_ERR("Exceeded maximum number of sync managers!\n");

   408

            return -EOVERFLOW;

   409

        }

   410

        memsize = sizeof(ec_sync_t) * total_count;

   411

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

   412

            EC_ERR("Failed to allocate %zu bytes for sync managers.\n",

   413

                    memsize);

   414

            return -ENOMEM;

   415

        }

   416

   417

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

   418

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

   419

   420

        // initialize new sync managers

   421

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

   422

            index = i + slave->sii.sync_count;

   423

            sync = &syncs[index];

   424

   425

            ec_sync_init(sync, slave);

   426

            sync->physical_start_address = EC_READ_U16(data);

   427

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

   428

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

   429

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

   430

        }

   431

   432

        if (slave->sii.syncs)

   433

            kfree(slave->sii.syncs);

   434

        slave->sii.syncs = syncs;

   435

        slave->sii.sync_count = total_count;

   436

    }

   437

   438

    return 0;

   439

}

   440

   441

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

   442

   443

/**

   444

   Fetches data from a [RT]xPDO category.

   445

   \return 0 in case of success, else < 0

   446

*/

   447

   448

int ec_slave_fetch_sii_pdos(

   449

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

   450

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

   451

        size_t data_size, /**< number of bytes */

   452

        ec_direction_t dir /**< PDO direction. */

   453

        )

   454

{

   455

    int ret;

   456

    ec_pdo_t *pdo;

   457

    ec_pdo_entry_t *entry;

   458

    unsigned int entry_count, i;

   459

   460

    while (data_size >= 8) {

   461

        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {

   462

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

   463

            return -ENOMEM;

   464

        }

   465

   466

        ec_pdo_init(pdo);

   467

        pdo->index = EC_READ_U16(data);

   468

        entry_count = EC_READ_U8(data + 2);

   469

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

   470

        ret = ec_pdo_set_name(pdo,

   471

                ec_slave_sii_string(slave, EC_READ_U8(data + 5)));

   472

        if (ret) {

   473

            ec_pdo_clear(pdo);

   474

            kfree(pdo);

   475

            return ret;

   476

        }

   477

        list_add_tail(&pdo->list, &slave->sii.pdos);

   478

   479

        data_size -= 8;

   480

        data += 8;

   481

   482

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

   483

            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {

   484

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