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

    71

    slave->master = master;

    72

    slave->ring_position = ring_position;

    73

    slave->station_address = station_address;

    74

    75

    slave->config = NULL;

    76

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    77

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    78

    slave->error_flag = 0;

    79

    slave->force_config = 0;

    80

    slave->configured_rx_mailbox_offset = 0x0000;

    81

    slave->configured_rx_mailbox_size = 0x0000;

    82

    slave->configured_tx_mailbox_offset = 0x0000;

    83

    slave->configured_tx_mailbox_size = 0x0000;

    84

    85

    slave->base_type = 0;

    86

    slave->base_revision = 0;

    87

    slave->base_build = 0;

    88

    slave->base_fmmu_count = 0;

    89

    slave->base_sync_count = 0;

    90

    91

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

    92

        slave->base_ports[i] = EC_PORT_NOT_IMPLEMENTED;

    93

    94

        slave->ports[i].dl_link = 0;

    95

        slave->ports[i].dl_loop = 0;

    96

        slave->ports[i].dl_signal = 0;

    97

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

    98

    }

    99

   100

    slave->base_fmmu_bit_operation = 0;

   101

    slave->base_dc_supported = 0;

   102

    slave->base_dc_range = EC_DC_32;

   104

   105

    slave->sii_words = NULL;

   106

    slave->sii_nwords = 0;

   107

   108

    slave->sii.alias = 0x0000;

   109

    slave->sii.vendor_id = 0x00000000;

   110

    slave->sii.product_code = 0x00000000;

   111

    slave->sii.revision_number = 0x00000000;

   112

    slave->sii.serial_number = 0x00000000;

   113

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   114

    slave->sii.boot_rx_mailbox_size = 0x0000;

   115

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   116

    slave->sii.boot_tx_mailbox_size = 0x0000;

   117

    slave->sii.std_rx_mailbox_offset = 0x0000;

   118

    slave->sii.std_rx_mailbox_size = 0x0000;

   119

    slave->sii.std_tx_mailbox_offset = 0x0000;

   120

    slave->sii.std_tx_mailbox_size = 0x0000;

   121

    slave->sii.mailbox_protocols = 0;

   122

   123

    slave->sii.strings = NULL;

   124

    slave->sii.string_count = 0;

   125

   126

    slave->sii.has_general = 0;

   127

    slave->sii.group = NULL;

   128

    slave->sii.image = NULL;

   129

    slave->sii.order = NULL;

   130

    slave->sii.name = NULL;

   131

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

   132

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

   133

    slave->sii.current_on_ebus = 0;

   134

   135

    slave->sii.syncs = NULL;

   136

    slave->sii.sync_count = 0;

   137

   138

    INIT_LIST_HEAD(&slave->sii.pdos);

   139

   140

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   141

   142

    slave->sdo_dictionary_fetched = 0;

   143

    slave->jiffies_preop = 0;

   144

}

   145

   146

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

   147

   148

/**

   149

   Slave destructor.

   150

   Clears and frees a slave object.

   151

*/

   152

   153

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

   154

{

   155

    ec_sdo_t *sdo, *next_sdo;

   156

    unsigned int i;

   157

    ec_pdo_t *pdo, *next_pdo;

   158

   159

    if (slave->config)

   160

        ec_slave_config_detach(slave->config);

   161

   162

    // free all SDOs

   163

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

   164

        list_del(&sdo->list);

   165

        ec_sdo_clear(sdo);

   166

        kfree(sdo);

   167

    }

   168

   169

    // free all strings

   170

    if (slave->sii.strings) {

   171

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

   172

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

   173

        kfree(slave->sii.strings);

   174

    }

   175

   176

    // free all sync managers

   177

    ec_slave_clear_sync_managers(slave);

   178

   179

    // free all SII PDOs

   180

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

   181

        list_del(&pdo->list);

   182

        ec_pdo_clear(pdo);

   183

        kfree(pdo);

   184

    }

   185

   186

    if (slave->sii_words)

   187

        kfree(slave->sii_words);

   188

}

   189

   190

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

   191

   192

/** Clear the sync manager array. 

   193

 */

   194

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

   195

{

   196

    unsigned int i;

   197

   198

    if (slave->sii.syncs) {

   199

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

   200

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

   201

        }

   202

        kfree(slave->sii.syncs);

   203

        slave->sii.syncs = NULL;

   204

    }

   205

}

   206

   207

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

   208

   209

/**

   210

 * Sets the application state of a slave.

   211

 */

   212

   213

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

   214

        ec_slave_state_t new_state /**< new application state */

   215

        )

   216

{

   217

    if (new_state != slave->current_state) {

   218

        if (slave->master->debug_level) {

   219

            char old_state[EC_STATE_STRING_SIZE],

   220

                cur_state[EC_STATE_STRING_SIZE];

   221

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

   222

            ec_state_string(new_state, cur_state, 0);

   223

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

   224

                   slave->ring_position, old_state, cur_state);

   225

        }

   226

        slave->current_state = new_state;

   227

    }

   228

}

   229

   230

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

   231

   232

/**

   233

 * Request a slave state and resets the error flag.

   234

 */

   235

   236

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

   237

                            ec_slave_state_t state /**< new state */

   238

                            )

   239

{

   240

    slave->requested_state = state;

   241

    slave->error_flag = 0;

   242

}

   243

   244

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

   245

   246

/**

   247

   Fetches data from a STRING category.

   248

   \todo range checking

   249

   \return 0 in case of success, else < 0

   250

*/

   251

   252

int ec_slave_fetch_sii_strings(

   253

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

   254

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

   255

        size_t data_size /**< number of bytes */

   256

        )

   257

{

   258

    int i, err;

   259

    size_t size;

   260

    off_t offset;

   261

   262

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

   263

   264

    if (slave->sii.string_count) {

   265

        if (!(slave->sii.strings =

   266

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

   267

                        GFP_KERNEL))) {

   268

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

   269

            err = -ENOMEM;

   270

            goto out_zero;

   271

        }

   272

   273

        offset = 1;

   274

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

   275

            size = data[offset];

   276

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

   277

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

   278

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

   279

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

   280

                err = -ENOMEM;

   281

                goto out_free;

   282

            }

   283

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

   284

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

   285

            offset += 1 + size;

   286

        }

   287

    }

   288

   289

    return 0;

   290

   291

out_free:

   292

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

   293

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

   294

    kfree(slave->sii.strings);

   295

    slave->sii.strings = NULL;

   296

out_zero:

   297

    slave->sii.string_count = 0;

   298

    return err;

   299

}

   300

   301

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

   302

   303

/**

   304

   Fetches data from a GENERAL category.

   305

   \return 0 in case of success, else < 0

   306

*/

   307

   308

int ec_slave_fetch_sii_general(

   309

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

   310

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

   311

        size_t data_size /**< size in bytes */

   312

        )

   313

{

   314

    unsigned int i;

   315

    uint8_t flags;

   316

   317

    if (data_size != 32) {

   318

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

   319

                data_size, slave->ring_position);

   320

        return -EINVAL;

   321

    }

   322

   323

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

   324

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

   325

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

   326

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

   327

   328

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

   329

        slave->sii.physical_layer[i] =

   330

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

   331

   332

    // read CoE details

   333

    flags = EC_READ_U8(data + 5);

   334

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

   335

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

   336

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

   337

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

   338

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

   339

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

   340

   341

    // read general flags

   342

    flags = EC_READ_U8(data + 0x000B);

   343

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

   344

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

   345

   346

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

   347

    slave->sii.has_general = 1;

   348

    return 0;

   349

}

   350

   351

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

   352

   353

/** Fetches data from a SYNC MANAGER category.

   354

 *

   355

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

   356

 *

   357

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

   358

 */

   359

int ec_slave_fetch_sii_syncs(

   360

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

   361

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

   362

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

   363

        )

   364

{

   365

    unsigned int i, count, total_count;

   366

    ec_sync_t *sync;

   367

    size_t memsize;

   368

    ec_sync_t *syncs;

   369

    uint8_t index;

   370

   371

    // one sync manager struct is 4 words long

   372

    if (data_size % 8) {

   373

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

   374

                data_size, slave->ring_position);

   375

        return -EINVAL;

   376

    }

   377

   378

    count = data_size / 8;

   379

   380

    if (count) {

   381

        total_count = count + slave->sii.sync_count;

   382

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   383

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

   384

            return -EOVERFLOW;

   385

        }

   386

        memsize = sizeof(ec_sync_t) * total_count;

   387

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

   388

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

   389

                    memsize);

   390

            return -ENOMEM;

   391

        }

   392

   393

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

   394

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

   395

   396

        // initialize new sync managers

   397

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

   398

            index = i + slave->sii.sync_count;

   399

            sync = &syncs[index];

   400

   401

            ec_sync_init(sync, slave);

   402

            sync->physical_start_address = EC_READ_U16(data);

   403

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

   404

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

   405

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

   406

        }

   407

   408

        if (slave->sii.syncs)

   409

            kfree(slave->sii.syncs);

   410

        slave->sii.syncs = syncs;

   411

        slave->sii.sync_count = total_count;

   412

    }

   413

   414

    return 0;

   415

}

   416

   417

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

   418

   419

/**

   420

   Fetches data from a [RT]xPDO category.

   421

   \return 0 in case of success, else < 0

   422

*/

   423

   424

int ec_slave_fetch_sii_pdos(

   425

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

   426

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

   427

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

   428

        ec_direction_t dir /**< PDO direction. */

   429

        )

   430

{

   431

    int ret;

   432

    ec_pdo_t *pdo;

   433

    ec_pdo_entry_t *entry;

   434

    unsigned int entry_count, i;

   435

   436

    while (data_size >= 8) {

   437

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

   438

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

   439

            return -ENOMEM;

   440

        }

   441

   442

        ec_pdo_init(pdo);

   443

        pdo->index = EC_READ_U16(data);

   444

        entry_count = EC_READ_U8(data + 2);

   445

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

   446

        ret = ec_pdo_set_name(pdo,

   447

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

   448

        if (ret) {

   449

            ec_pdo_clear(pdo);

   450

            kfree(pdo);

   451

            return ret;

   452

        }

   453

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

   454

   455

        data_size -= 8;

   456

        data += 8;

   457

   458

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

   459

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

   460

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

   461

                return -ENOMEM;

   462

            }

   463

   464

            ec_pdo_entry_init(entry);

   465

            entry->index = EC_READ_U16(data);

   466

            entry->subindex = EC_READ_U8(data + 2);

   467

            ret = ec_pdo_entry_set_name(entry,

   468

                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)));

   469

            if (ret) {

   470

                ec_pdo_entry_clear(entry);

   471

                kfree(entry);

   472

                return ret;

   473

            }

   474

            entry->bit_length = EC_READ_U8(data + 5);

   475

            list_add_tail(&entry->list, &pdo->entries);

   476

   477

            data_size -= 8;

   478

            data += 8;

   479

        }

   480

   481

        // if sync manager index is positive, the PDO is mapped by default

   482

        if (pdo->sync_index >= 0) {

   483

            ec_sync_t *sync;

   484