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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

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 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave configuration methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

void ec_slave_config_clear(struct kobject *);

    51

ssize_t ec_show_slave_config_attribute(struct kobject *, struct attribute *,

    52

        char *);

    53

    54

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

    55

    56

/** \cond */

    57

    58

EC_SYSFS_READ_ATTR(info);

    59

    60

static struct attribute *def_attrs[] = {

    61

    &attr_info,

    62

    NULL,

    63

};

    64

    65

static struct sysfs_ops sysfs_ops = {

    66

    .show = ec_show_slave_config_attribute

    67

};

    68

    69

static struct kobj_type ktype_ec_slave_config = {

    70

    .release = ec_slave_config_clear,

    71

    .sysfs_ops = &sysfs_ops,

    72

    .default_attrs = def_attrs

    73

};

    74

    75

/** \endcond */

    76

    77

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

    78

    79

/** Slave configuration constructor.

    80

 *

    81

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

    82

 * position parameters.

    83

 *

    84

 * \retval 0 Success.

    85

 * \retval <0 Failure.

    86

 */

    87

int ec_slave_config_init(ec_slave_config_t *sc, /**< Slave configuration. */

    88

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

    89

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

    90

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

    91

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

    92

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

    93

        )

    94

{

    95

    ec_direction_t dir;

    96

    97

    sc->master = master;

    98

    sc->alias = alias;

    99

    sc->position = position;

   100

    sc->vendor_id = vendor_id;

   101

    sc->product_code = product_code;

   102

    sc->slave = NULL;

   103

   104

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

   105

        ec_pdo_list_init(&sc->pdos[dir]);

   106

   107

    INIT_LIST_HEAD(&sc->sdo_configs);

   108

    INIT_LIST_HEAD(&sc->sdo_requests);

   109

   110

    sc->used_fmmus = 0;

   111

   112

    // init kobject and add it to the hierarchy

   113

    memset(&sc->kobj, 0x00, sizeof(struct kobject));

   114

    kobject_init(&sc->kobj);

   115

    sc->kobj.ktype = &ktype_ec_slave_config;

   116

    sc->kobj.parent = &master->kobj;

   117

    if (kobject_set_name(&sc->kobj, "config-%u-%u", sc->alias, sc->position)) {

   118

        EC_ERR("Failed to set kobject name for slave config %u:%u.\n",

   119

                sc->alias, sc->position);

   120

        goto out_put;

   121

    }

   122

    if (kobject_add(&sc->kobj)) {

   123

        EC_ERR("Failed to add kobject for slave config %u:%u.\n",

   124

                sc->alias, sc->position);

   125

        goto out_put;

   126

    }

   127

   128

    return 0;

   129

   130

 out_put:

   131

    kobject_put(&sc->kobj);

   132

    return -1;

   133

}

   134

   135

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

   136

   137

/** Slave configuration destructor.

   138

 *

   139

 * Clears and frees a slave configuration object.

   140

 */

   141

void ec_slave_config_destroy(

   142

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

   143

        )

   144

{

   145

    ec_slave_config_detach(sc);

   146

   147

    // destroy self

   148

    kobject_del(&sc->kobj);

   149

    kobject_put(&sc->kobj);

   150

}

   151

   152

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

   153

   154

/** Clear and free the slave configuration.

   155

 * 

   156

 * This method is called by the kobject, once there are no more references to

   157

 * it.

   158

 */

   159

void ec_slave_config_clear(struct kobject *kobj /**< kobject of the config. */)

   160

{

   161

    ec_slave_config_t *sc;

   162

    ec_direction_t dir;

   163

    ec_sdo_request_t *req, *next_req;

   164

   165

    sc = container_of(kobj, ec_slave_config_t, kobj);

   166

   167

    // Free Pdo mappings

   168

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

   169

        ec_pdo_list_clear(&sc->pdos[dir]);

   170

   171

    // free all Sdo configurations

   172

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

   173

        list_del(&req->list);

   174

        ec_sdo_request_clear(req);

   175

        kfree(req);

   176

    }

   177

   178

    // free all Sdo requests

   179

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

   180

        list_del(&req->list);

   181

        ec_sdo_request_clear(req);

   182

        kfree(req);

   183

    }

   184

   185

    kfree(sc);

   186

}

   187

   188

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

   189

   190

/** Prepares an FMMU configuration.

   191

 *

   192

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

   193

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

   194

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

   195

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

   196

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

   197

 * returns with success.

   198

 *

   199

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

   200

 * \retval -1  Error, FMMU limit reached.

   201

 */

   202

int ec_slave_config_prepare_fmmu(

   203

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

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

   205

        ec_direction_t dir /**< Pdo direction. */

   206

        )

   207

{

   208

    unsigned int i;

   209

    ec_fmmu_config_t *fmmu;

   210

   211

    // FMMU configuration already prepared?

   212

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

   213

        fmmu = &sc->fmmu_configs[i];

   214

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

   215

            return fmmu->logical_start_address;

   216

    }

   217

   218

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   219

        EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",

   220

                sc->alias, sc->position);

   221

        return -1;

   222

    }

   223

   224

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

   225

    ec_fmmu_config_init(fmmu, sc, domain, dir);

   226

    return fmmu->logical_start_address;

   227

}

   228

   229

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

   230

   231

/** Outputs all information about a certain slave configuration.

   232

*/

   233

ssize_t ec_slave_config_info(

   234

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

   235

        char *buffer /**< Output buffer */

   236

        )

   237

{

   238

    char *buf = buffer;

   239

    ec_direction_t dir;

   240

    const ec_pdo_list_t *pdos;

   241

    const ec_pdo_t *pdo;

   242

    const ec_pdo_entry_t *entry;

   243

    char str[20];

   244

    const ec_sdo_request_t *req;

   245

   246

    buf += sprintf(buf, "Alias: 0x%04X (%u)\n", sc->alias, sc->alias);

   247

    buf += sprintf(buf, "Position: %u\n", sc->position);

   248

   249

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   250

        pdos = &sc->pdos[dir];

   251

   252

        if (!list_empty(&pdos->list)) {

   253

            buf += sprintf(buf, "%s Pdo assignment / mapping:\n",

   254

                    dir == EC_DIR_OUTPUT ? "Output" : "Input");

   255

   256

            list_for_each_entry(pdo, &pdos->list, list) {

   257

                buf += sprintf(buf, "  %s 0x%04X \"%s\"\n",

   258

                        pdo->dir == EC_DIR_OUTPUT ? "RxPdo" : "TxPdo",

   259

                        pdo->index, pdo->name ? pdo->name : "???");

   260

   261

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

   262

                    buf += sprintf(buf, "    0x%04X:%02X \"%s\", %u bit\n",

   263

                            entry->index, entry->subindex,

   264

                            entry->name ? entry->name : "???",

   265

                            entry->bit_length);

   266

                }

   267

            }

   268

        }

   269

    }

   270

   271

    // type-cast to avoid warnings on some compilers

   272

    if (!list_empty((struct list_head *) &sc->sdo_configs)) {

   273

        buf += sprintf(buf, "\nSdo configurations:\n");

   274

   275

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

   276

            switch (req->data_size) {

   277

                case 1: sprintf(str, "%u", EC_READ_U8(req->data)); break;

   278

                case 2: sprintf(str, "%u", EC_READ_U16(req->data)); break;

   279

                case 4: sprintf(str, "%u", EC_READ_U32(req->data)); break;

   280

                default: sprintf(str, "(invalid size)"); break;

   281

            }

   282

            buf += sprintf(buf, "  0x%04X:%02X -> %s\n",

   283

                    req->index, req->subindex, str);

   284

        }

   285

        buf += sprintf(buf, "\n");

   286

    }

   287

   288

    // type-cast to avoid warnings on some compilers

   289

    if (!list_empty((struct list_head *) &sc->sdo_requests)) {

   290

        buf += sprintf(buf, "\nSdo requests:\n");

   291

   292

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

   293

            buf += sprintf(buf, "  0x%04X:%02X\n", req->index, req->subindex);

   294

        }

   295

        buf += sprintf(buf, "\n");

   296

    }

   297

   298

    return buf - buffer;

   299

}

   300

   301

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

   302

   303

/** Formats attribute data for SysFS read access.

   304

 *

   305

 * \return number of bytes to read

   306

 */

   307

ssize_t ec_show_slave_config_attribute(

   308

        struct kobject *kobj, /**< Slave configuration's kobject */

   309

        struct attribute *attr, /**< Requested attribute. */

   310

        char *buffer /**< Memory to store data. */

   311

        )

   312

{

   313

    ec_slave_config_t *sc = container_of(kobj, ec_slave_config_t, kobj);

   314

   315

    if (attr == &attr_info) {

   316

        return ec_slave_config_info(sc, buffer);

   317

    }

   318

   319

    return 0;

   320

}

   321

   322

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

   323

   324

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

   325

 *

   326

 * \retval 0 Success.

   327

 * \retval -1 Slave not found.

   328

 * \retval -2 Slave already configured.

   329

 * \retval -3 Invalid slave type found at the given position.

   330

 */

   331

int ec_slave_config_attach(

   332

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

   333

        )

   334

{

   335

	ec_slave_t *slave;

   336

   337

	if (sc->slave)

   338

		return 0; // already attached

   339

   340

    if (!(slave = ec_master_find_slave(

   341

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

   342

        EC_WARN("Failed to find slave for configuration %u:%u.\n",

   343

                sc->alias, sc->position);

   344

        return -1;

   345

    }

   346

   347

	if (slave->config) {

   348

		EC_ERR("Failed to attach slave configuration %u:%u. Slave %u"

   349

				" already has a configuration!\n", sc->alias,

   350

				sc->position, slave->ring_position);

   351

		return -2;

   352

	}

   353

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

   354

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

   355

		EC_ERR("Slave %u has an invalid type (0x%08X/0x%08X) for"

   356

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

   357

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

   358

				slave->sii.product_code, sc->alias, sc->position,

   359

				sc->vendor_id, sc->product_code);

   360

		return -3;

   361

	}

   362

   363

	// attach slave

   364

	slave->config = sc;

   365

	sc->slave = slave;

   366

   367

    if (sc->master->debug_level)

   368

        EC_DBG("Attached slave %u to config %u:%u.\n",

   369

                slave->ring_position, sc->alias, sc->position);

   370

   371

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   372

   373

	return 0;

   374

}

   375

   376

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

   377

   378

/** Detaches the configuration from a slave object.

   379

 */

   380

void ec_slave_config_detach(

   381

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

   382

        )

   383

{

   384

    if (sc->slave) {

   385

        sc->slave->config = NULL;

   386

        sc->slave = NULL;

   387

    }

   388

}

   389

   390

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

   391

   392

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

   393

 */

   394

void ec_slave_config_load_default_assignment(ec_slave_config_t *sc)

   395

{

   396

    ec_direction_t dir;

   397

    ec_pdo_list_t *pdos;

   398

    ec_sync_t *sync;

   399

   400

    if (!sc->slave)

   401

        return;

   402

   403

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   404

        pdos = &sc->pdos[dir];

   405

        if ((sync = ec_slave_get_pdo_sync(sc->slave, dir)))

   406

            ec_pdo_list_copy(pdos, &sync->pdos);

   407

    }

   408

}

   409

   410

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

   411

   412

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

   413

 */

   414

void ec_slave_config_load_default_mapping(

   415

        const ec_slave_config_t *sc,

   416

        ec_pdo_t *pdo

   417

        )

   418

{

   419

    const ec_sync_t *sync;

   420

    const ec_pdo_t *default_pdo;

   421

   422

    if (sc->master->debug_level)

   423

        EC_DBG("Loading default configuration for Pdo 0x%04X in"

   424

                " config %u:%u.\n", pdo->index, sc->alias, sc->position);

   425

   426

    pdo->default_config = 1;

   427

   428

    if (!sc->slave) {

   429

        EC_WARN("Failed to load default Pdo configuration for %u:%u:"

   430

                " Slave not found.\n", sc->alias, sc->position);

   431

        return;

   432

    }

   433

   434

    if (!(sync = ec_slave_get_pdo_sync(sc->slave, pdo->dir))) {

   435

        EC_WARN("Slave %u does not provide a default Pdo"

   436

                " configuration!\n", sc->slave->ring_position);

   437

        return;

   438

    }

   439

   440

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

   441

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

   442

            continue;

   443

   444

        if (sc->master->debug_level)

   445

            EC_DBG("  Found Pdo name \"%s\".\n",

   446

                    default_pdo->name);

   447

   448

        // try to take Pdo name from mapped one

   449

        ec_pdo_set_name(pdo, default_pdo->name);

   450

   451

        // copy entries (= default Pdo configuration)

   452

        if (ec_pdo_copy_entries(pdo, default_pdo))

   453

            return;

   454

   455

        if (sc->master->debug_level) {

   456

            const ec_pdo_entry_t *entry;

   457

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

   458

                EC_DBG("    Entry 0x%04X:%02X.\n",

   459

                        entry->index, entry->subindex);

   460

            }

   461

        }

   462

    }

   463

}

   464

   465

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

   466

 *  Realtime interface

   467

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

   468

   469

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   470

        ec_direction_t dir, uint16_t index)

   471

{

   472

    ec_pdo_list_t *pl = &sc->pdos[dir];

   473

    ec_pdo_t *pdo;

   474

   475

    if (sc->master->debug_level)

   476

        EC_DBG("Adding Pdo 0x%04X to assignment for dir %u, config %u:%u.\n",

   477

                index, dir, sc->alias, sc->position);

   478

   479

    if (!(pdo = ec_pdo_list_add_pdo(pl, dir, index)))

   480

        return -1;

   481

   482

    ec_slave_config_load_default_mapping(sc, pdo);

   483

    return 0;

   484

}

   485

   486

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

   487

   488

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   489

        ec_direction_t dir)

   490

{

   491

    if (sc->master->debug_level)

   492

        EC_DBG("Clearing Pdo assignment for dir %u, config %u:%u.\n",

   493

                dir, sc->alias, sc->position);

   494

   495

    ec_pdo_list_clear_pdos(&sc->pdos[dir]);

   496

}

   497

   498

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

   499

   500

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   501

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   502

        uint8_t entry_bit_length)

   503

{

   504

    ec_direction_t dir;

   505

    ec_pdo_t *pdo;

   506

   507

    if (sc->master->debug_level)

   508

        EC_DBG("Adding Pdo entry 0x%04X:%02X (%u bit) to mapping of Pdo"

   509

                " 0x%04X, config %u:%u.\n", entry_index, entry_subindex,

   510

                entry_bit_length, pdo_index, sc->alias, sc->position);

   511

   512

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

   513

        if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))