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

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 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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

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 *  published by the Free Software Foundation.

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 *

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

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

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

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 *  Public License for more details.

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 *

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

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 *  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

 *

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

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 *  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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 *

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 *  vim: expandtab

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 *

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

    31

    32

/**

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   \file

    34

   EtherCAT slave configuration methods.

    35

*/

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    37

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

    38

    39

#include <linux/slab.h>

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    41

#include "globals.h"

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#include "master.h"

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#include "voe_handler.h"

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    45

#include "slave_config.h"

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

    48

    49

/** Slave configuration constructor.

    50

 *

    51

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

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 * position parameters.

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 */

    54

void ec_slave_config_init(

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

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

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

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

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

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

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        )

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{

    63

    unsigned int i;

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    sc->master = master;

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    67

    sc->alias = alias;

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    sc->position = position;

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    sc->vendor_id = vendor_id;

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    sc->product_code = product_code;

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    sc->watchdog_divider = 0; // use default

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    sc->watchdog_intervals = 0; // use default

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    74

    sc->slave = NULL;

    75

    76

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

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        ec_sync_config_init(&sc->sync_configs[i]);

    78

    79

    sc->used_fmmus = 0;

    80

    sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;

    81

    sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;

    82

    sc->dc_assign_activate = 0x0000;

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    sc->dc_sync[0].cycle_time = 0x00000000;

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    sc->dc_sync[1].cycle_time = 0x00000000;

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    sc->dc_sync[0].shift_time = 0x00000000;

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    sc->dc_sync[1].shift_time = 0x00000000;

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    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    INIT_LIST_HEAD(&sc->voe_handlers);

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    INIT_LIST_HEAD(&sc->soe_configs);

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}

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    94

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

    95

    96

/** Slave configuration destructor.

    97

 *

    98

 * Clears and frees a slave configuration object.

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 */

   100

void ec_slave_config_clear(

   101

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

   102

        )

   103

{

   104

    unsigned int i;

   105

    ec_sdo_request_t *req, *next_req;

   106

    ec_voe_handler_t *voe, *next_voe;

   107

    ec_soe_request_t *soe, *next_soe;

   108

   109

    ec_slave_config_detach(sc);

   110

   111

    // Free sync managers

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

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        ec_sync_config_clear(&sc->sync_configs[i]);

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    // free all SDO configurations

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

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // free all SDO requests

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

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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   129

    // free all VoE handlers

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    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {

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        list_del(&voe->list);

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        ec_voe_handler_clear(voe);

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        kfree(voe);

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    }

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   136

    // free all SoE configurations

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    list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {

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        list_del(&soe->list);

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        ec_soe_request_clear(soe);

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        kfree(soe);

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    }

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}

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

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   146

/** Prepares an FMMU configuration.

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 *

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

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

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

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

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 * FMMU configuration is already prepared, the function does nothing and

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 * returns with success.

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 *

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 * \retval >=0 Success, logical offset byte address.

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 * \retval  <0 Error code.

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 */

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int ec_slave_config_prepare_fmmu(

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

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

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        uint8_t sync_index, /**< Sync manager index. */

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        ec_direction_t dir /**< PDO direction. */

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        )

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{

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    unsigned int i;

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    ec_fmmu_config_t *fmmu;

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    // FMMU configuration already prepared?

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

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        fmmu = &sc->fmmu_configs[i];

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

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            return fmmu->logical_start_address;

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    }

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    if (sc->used_fmmus == EC_MAX_FMMUS) {

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        EC_CONFIG_ERR(sc, "FMMU limit reached!\n");

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        return -EOVERFLOW;

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    }

   179

   180

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

   181

   182

    down(&sc->master->master_sem);

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    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);

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    up(&sc->master->master_sem);

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    return fmmu->logical_start_address;

   187

}

   188

   189

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

   190

   191

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

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 *

   193

 * \retval  0 Success.

   194

 * \retval <0 Error code.

   195

 */

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int ec_slave_config_attach(

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

   198

        )

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{

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    ec_slave_t *slave;

   201

   202

    if (sc->slave)

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        return 0; // already attached

   204

   205

    if (!(slave = ec_master_find_slave(

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                    sc->master, sc->alias, sc->position))) {

   207

        EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n");

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        return -ENOENT;

   209

    }

   210

   211

    if (slave->config) {

   212

        EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u"

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                " already has a configuration!\n", slave->ring_position);

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        return -EEXIST;

   215

    }

   216

   217

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

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

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        EC_CONFIG_DBG(sc, 1, "Slave %u has an invalid type (0x%08X/0x%08X)"

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

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

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                slave->sii.product_code, sc->vendor_id, sc->product_code);

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        return -EINVAL;

   224

    }

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   226

    // attach slave

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    slave->config = sc;

   228

    sc->slave = slave;

   229

   230

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   231

   232

    EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);

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   234

    return 0;

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}

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

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/** Detaches the configuration from a slave object.

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 */

   241

void ec_slave_config_detach(

   242

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

   243

        )

   244

{

   245

    if (sc->slave) {

   246

        sc->slave->config = NULL;

   247

        sc->slave = NULL;

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    }

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}

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   251

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

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

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 */

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void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

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{

   257

    uint8_t sync_index;

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    ec_sync_config_t *sync_config;

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    const ec_sync_t *sync;

   260

   261

    if (!sc->slave)

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        return;

   263

   264

    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {

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        sync_config = &sc->sync_configs[sync_index];

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        if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {

   267

            sync_config->dir = ec_sync_default_direction(sync);

   268

            if (sync_config->dir == EC_DIR_INVALID)

   269

                EC_SLAVE_WARN(sc->slave,

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                        "SM%u has an invalid direction field!\n", sync_index);

   271

            ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);

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        }

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    }

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}

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   276

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

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   278

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

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 */

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void ec_slave_config_load_default_mapping(

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        const ec_slave_config_t *sc,

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        ec_pdo_t *pdo

   283

        )

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{

   285

    unsigned int i;

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    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

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   289

    if (!sc->slave)

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        return;

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    EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n",

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            pdo->index);

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   295

    // find PDO in any sync manager (it could be reassigned later)

   296

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

   297

        sync = &sc->slave->sii.syncs[i];

   298

   299

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

   300

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

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                continue;

   302

   303

            if (default_pdo->name) {

   304

                EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n",

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                        default_pdo->name);

   306

   307

                // take PDO name from assigned one

   308

                ec_pdo_set_name(pdo, default_pdo->name);

   309

            }

   310

   311

            // copy entries (= default PDO mapping)

   312

            if (ec_pdo_copy_entries(pdo, default_pdo))

   313

                return;

   314

   315

            if (sc->master->debug_level) {

   316

                const ec_pdo_entry_t *entry;

   317

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

   318

                    EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n",

   319

                            entry->index, entry->subindex);

   320

                }

   321

            }

   322

   323

            return;

   324

        }

   325

    }

   326

   327

    EC_CONFIG_DBG(sc, 1, "No default mapping found.\n");

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}

   329

   330

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

   331

   332

/** Get the number of SDO configurations.

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 *

   334

 * \return Number of SDO configurations.

   335

 */

   336

unsigned int ec_slave_config_sdo_count(

   337

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

   338

        )

   339

{

   340

    const ec_sdo_request_t *req;

   341

    unsigned int count = 0;

   342

   343

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

   344

        count++;

   345

    }

   346

   347

    return count;

   348

}

   349

   350

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

   351

   352

/** Finds an SDO configuration via its position in the list.

   353

 *

   354

 * Const version.

   355

 */

   356

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   357

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

   358

        unsigned int pos /**< Position in the list. */

   359

        )

   360

{

   361

    const ec_sdo_request_t *req;

   362

   363

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

   364

        if (pos--)

   365

            continue;

   366

        return req;

   367

    }

   368

   369

    return NULL;

   370

}

   371

   372

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

   373

   374

/** Finds a VoE handler via its position in the list.

   375

 */

   376

ec_sdo_request_t *ec_slave_config_find_sdo_request(

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

   378

        unsigned int pos /**< Position in the list. */

   379

        )

   380

{

   381

    ec_sdo_request_t *req;

   382

   383

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

   384

        if (pos--)

   385

            continue;

   386

        return req;

   387

    }

   388

   389

    return NULL;

   390

}

   391

   392

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

   393

   394

/** Finds a VoE handler via its position in the list.

   395

 */

   396

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   397

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

   398

        unsigned int pos /**< Position in the list. */

   399

        )

   400

{

   401

    ec_voe_handler_t *voe;

   402

   403

    list_for_each_entry(voe, &sc->voe_handlers, list) {

   404

        if (pos--)

   405

            continue;

   406

        return voe;

   407

    }

   408

   409

    return NULL;

   410

}

   411

   412

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

   413

 *  Application interface

   414

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

   415

   416

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   417

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   418

{

   419

    ec_sync_config_t *sync_config;

   420

   421

    EC_CONFIG_DBG(sc, 1, "ecrt_slave_config_sync_manager(sc = 0x%p,"

   422

            " sync_index = %u, dir = %i, watchdog_mode = %i)\n",

   423

            sc, sync_index, dir, watchdog_mode);

   424

   425

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   426

        EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);

   427

        return -ENOENT;

   428

    }

   429

   430

    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {

   431

        EC_CONFIG_ERR(sc, "Invalid direction %u!\n", (unsigned int) dir);

   432

        return -EINVAL;

   433

    }

   434

   435

    sync_config = &sc->sync_configs[sync_index];

   436

    sync_config->dir = dir;

   437

    sync_config->watchdog_mode = watchdog_mode;

   438

    return 0;

   439

}

   440

   441

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

   442

   443

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

   444

        uint16_t divider, uint16_t intervals)

   445

{

   446

    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, divider = %u, intervals = %u)\n",

   447

            __func__, sc, divider, intervals);

   448

   449

    sc->watchdog_divider = divider;

   450

    sc->watchdog_intervals = intervals;

   451

}

   452

   453

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

   454

   455

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   456

        uint8_t sync_index, uint16_t pdo_index)

   457

{

   458

    ec_pdo_t *pdo;

   459

   460

    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u, "

   461

            "pdo_index = 0x%04X)\n", __func__, sc, sync_index, pdo_index);

   462

   463

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   464

        EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);

   465

        return -EINVAL;

   466

    }

   467

   468

    down(&sc->master->master_sem);

   469

   470

    pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);

   471

    if (IS_ERR(pdo)) {

   472

        up(&sc->master->master_sem);

   473

        return PTR_ERR(pdo);

   474

    }

   475

    pdo->sync_index = sync_index;

   476

   477

    ec_slave_config_load_default_mapping(sc, pdo);

   478

   479

    up(&sc->master->master_sem);

   480

    return 0;

   481

}

   482

   483

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

   484

   485

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   486

        uint8_t sync_index)

   487

{

   488

    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, sync_index = %u)\n",

   489

            __func__, sc, sync_index);

   490

   491

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   492

        EC_CONFIG_ERR(sc, "Invalid sync manager index %u!\n", sync_index);

   493

        return;