1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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

 *  vim: expandtab

    29

 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT slave configuration methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/module.h>

    40

#include <linux/slab.h>

    41

    42

#include "globals.h"

    43

#include "master.h"

    44

#include "voe_handler.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

/** Slave configuration constructor.

    51

 *

    52

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

    53

 * position parameters.

    54

 */

    55

void ec_slave_config_init(

    56

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

    57

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

    58

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

    59

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

    60

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

    61

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

    62

        )

    63

{

    64

    unsigned int i;

    65

    66

    sc->master = master;

    67

    68

    sc->alias = alias;

    69

    sc->position = position;

    70

    sc->vendor_id = vendor_id;

    71

    sc->product_code = product_code;

    72

    sc->watchdog_divider = 0; // use default

    73

    sc->allow_overlapping_pdos = 0; // default not allowed

    74

    sc->watchdog_intervals = 0; // use default

    75

    76

    sc->slave = NULL;

    77

    78

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

    79

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

    80

    81

    sc->used_fmmus = 0;

    82

    sc->dc_assign_activate = 0x0000;

    83

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

    84

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

    85

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

    86

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

    87

    88

    INIT_LIST_HEAD(&sc->sdo_configs);

    89

    INIT_LIST_HEAD(&sc->sdo_requests);

    90

    INIT_LIST_HEAD(&sc->reg_requests);

    91

    INIT_LIST_HEAD(&sc->voe_handlers);

    92

    INIT_LIST_HEAD(&sc->soe_configs);

    93

    94

    ec_coe_emerg_ring_init(&sc->emerg_ring, sc);

    95

}

    96

    97

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

    98

    99

/** Slave configuration destructor.

   100

 *

   101

 * Clears and frees a slave configuration object.

   102

 */

   103

void ec_slave_config_clear(

   104

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

   105

        )

   106

{

   107

    unsigned int i;

   108

    ec_sdo_request_t *req, *next_req;

   109

    ec_voe_handler_t *voe, *next_voe;

   110

    ec_reg_request_t *reg, *next_reg;

   111

    ec_soe_request_t *soe, *next_soe;

   112

   113

    ec_slave_config_detach(sc);

   114

   115

    // Free sync managers

   116

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

   117

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

   118

   119

    // free all SDO configurations

   120

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

   121

        list_del(&req->list);

   122

        ec_sdo_request_clear(req);

   123

        kfree(req);

   124

    }

   125

   126

    // free all SDO requests

   127

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

   128

        list_del(&req->list);

   129

        ec_sdo_request_clear(req);

   130

        kfree(req);

   131

    }

   132

   133

    // free all register requests

   134

    list_for_each_entry_safe(reg, next_reg, &sc->reg_requests, list) {

   135

        list_del(&reg->list);

   136

        ec_reg_request_clear(reg);

   137

        kfree(reg);

   138

    }

   139

   140

    // free all VoE handlers

   141

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

   142

        list_del(&voe->list);

   143

        ec_voe_handler_clear(voe);

   144

        kfree(voe);

   145

    }

   146

   147

    // free all SoE configurations

   148

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

   149

        list_del(&soe->list);

   150

        ec_soe_request_clear(soe);

   151

        kfree(soe);

   152

    }

   153

   154

    ec_coe_emerg_ring_clear(&sc->emerg_ring);

   155

}

   156

   157

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

   158

   159

/** Prepares an FMMU configuration.

   160

 *

   161

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

   162

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

   163

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

   164

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

   165

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

   166

 * returns with success.

   167

 *

   168

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

   169

 * \retval  <0 Error code.

   170

 */

   171

int ec_slave_config_prepare_fmmu(

   172

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

   173

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

   174

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

   175

        ec_direction_t dir /**< PDO direction. */

   176

        )

   177

{

   178

    unsigned int i;

   179

    ec_fmmu_config_t *fmmu;

   180

   181

    // FMMU configuration already prepared?

   182

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

   183

        fmmu = &sc->fmmu_configs[i];

   184

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

   185

            return fmmu->logical_domain_offset;

   186

    }

   187

   188

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   189

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

   190

        return -EOVERFLOW;

   191

    }

   192

   193

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

   194

   195

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

   196

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

   197

   198

#if 0 //TODO overlapping PDOs

   199

    // Overlapping PDO Support from 4751747d4e6d

   200

    // FIXME FIXME FIXME FIXME FIXME FIXME FIXME FIXME FIXME

   201

    // parent code does not call ec_fmmu_config_domain

   202

    // FIXME FIXME FIXME FIXME FIXME FIXME FIXME FIXME FIXME

   203

    fmmu_logical_start_address = domain->tx_size;

   204

    tx_size = fmmu->data_size;

   205

   206

    // FIXME is it enough to take only the *previous* FMMU into account?

   207

   208

    // FIXME Need to qualify allow_overlapping_pdos with slave->sii.general_flags.enable_not_lrw

   209

   210

    if (sc->allow_overlapping_pdos && sc->used_fmmus > 0) {

   211

        prev_fmmu = &sc->fmmu_configs[sc->used_fmmus - 1];

   212

        if (fmmu->dir != prev_fmmu->dir && prev_fmmu->tx_size != 0) {

   213

            // prev fmmu has opposite direction

   214

            // and is not already paired with prev-prev fmmu

   215

            old_prev_tx_size = prev_fmmu->tx_size;

   216

            prev_fmmu->tx_size = max(fmmu->data_size, prev_fmmu->data_size);

   217

            domain->tx_size += prev_fmmu->tx_size - old_prev_tx_size;

   218

            tx_size = 0;

   219

            fmmu_logical_start_address = prev_fmmu->logical_domain_offset;

   220

        }

   221

    }

   222

   223

    ec_fmmu_config_domain(fmmu, domain, fmmu_logical_start_address, tx_size);

   224

    // Overlapping PDO Support from 4751747d4e6d

   225

#endif

   226

   227

    sc->used_fmmus++;

   228

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

   229

   230

    return fmmu->logical_domain_offset;

   231

}

   232

   233

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

   234

   235

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

   236

 *

   237

 * \retval  0 Success.

   238

 * \retval <0 Error code.

   239

 */

   240

int ec_slave_config_attach(

   241

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

   242

        )

   243

{

   244

    ec_slave_t *slave;

   245

   246

    if (sc->slave)

   247

        return 0; // already attached

   248

   249

    if (!(slave = ec_master_find_slave(

   250

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

   251

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

   252

        return -ENOENT;

   253

    }

   254

   255

    if (slave->config) {

   256

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

   257

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

   258

        return -EEXIST;

   259

    }

   260

   261

    if (

   262

#ifdef EC_IDENT_WILDCARDS

   263

            sc->vendor_id != 0xffffffff &&

   264

#endif

   265

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

   266

       ) {

   267

        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching vendor ID (0x%08X)"

   268

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

   269

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

   270

        return -EINVAL;

   271

    }

   272

   273

    if (

   274

#ifdef EC_IDENT_WILDCARDS

   275

            sc->product_code != 0xffffffff &&

   276

#endif

   277

            slave->sii.product_code != sc->product_code

   278

       ) {

   279

        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching product code (0x%08X)"

   280

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

   281

                slave->ring_position, slave->sii.product_code,

   282

                sc->product_code);

   283

        return -EINVAL;

   284

    }

   285

   286

    // attach slave

   287

    slave->config = sc;

   288

    sc->slave = slave;

   289

   290

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

   291

    return 0;

   292

}

   293

   294

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

   295

   296

/** Detaches the configuration from a slave object.

   297

 */

   298

void ec_slave_config_detach(

   299

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

   300

        )

   301

{

   302

    if (sc->slave) {

   303

        ec_reg_request_t *reg;

   304

   305

        sc->slave->config = NULL;

   306

   307

        // invalidate processing register request

   308

        list_for_each_entry(reg, &sc->reg_requests, list) {

   309

            if (sc->slave->fsm.reg_request == reg) {

   310

                sc->slave->fsm.reg_request = NULL;

   311

                EC_SLAVE_WARN(sc->slave, "Aborting register request,"

   312

                        " slave is detaching.\n");

   313

                reg->state = EC_INT_REQUEST_FAILURE;

   314

                wake_up_all(&sc->slave->master->request_queue);

   315

                break;

   316

            }

   317

        }

   318

   319

        sc->slave = NULL;

   320

    }

   321

}

   322

   323

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

   324

   325

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

   326

 */

   327

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   328

{

   329

    uint8_t sync_index;

   330

    ec_sync_config_t *sync_config;

   331

    const ec_sync_t *sync;

   332

   333

    if (!sc->slave)

   334

        return;

   335

   336

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

   337

        sync_config = &sc->sync_configs[sync_index];

   338

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

   339

            sync_config->dir = ec_sync_default_direction(sync);

   340

            if (sync_config->dir == EC_DIR_INVALID)

   341

                EC_SLAVE_WARN(sc->slave,

   342

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

   343

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

   344

        }

   345

    }

   346

}

   347

   348

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

   349

   350

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

   351

 */

   352

void ec_slave_config_load_default_mapping(

   353

        const ec_slave_config_t *sc,

   354

        ec_pdo_t *pdo

   355

        )

   356

{

   357

    unsigned int i;

   358

    const ec_sync_t *sync;

   359

    const ec_pdo_t *default_pdo;

   360

   361

    if (!sc->slave)

   362

        return;

   363

   364

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

   365

            pdo->index);

   366

   367

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

   368

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

   369

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

   370

   371

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

   372

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

   373

                continue;

   374

   375

            if (default_pdo->name) {

   376

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

   377

                        default_pdo->name);

   378

   379

                // take PDO name from assigned one

   380

                ec_pdo_set_name(pdo, default_pdo->name);

   381

            }

   382

   383

            // copy entries (= default PDO mapping)

   384

            if (ec_pdo_copy_entries(pdo, default_pdo))

   385

                return;

   386

   387

            if (sc->master->debug_level) {

   388

                const ec_pdo_entry_t *entry;

   389

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

   390

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

   391

                            entry->index, entry->subindex);

   392

                }

   393

            }

   394

   395

            return;

   396

        }

   397

    }

   398

   399

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

   400

}

   401

   402

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

   403

   404

/** Get the number of SDO configurations.

   405

 *

   406

 * \return Number of SDO configurations.

   407

 */

   408

unsigned int ec_slave_config_sdo_count(

   409

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

   410

        )

   411

{

   412

    const ec_sdo_request_t *req;

   413

    unsigned int count = 0;

   414

   415

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

   416

        count++;

   417

    }

   418

   419

    return count;

   420

}

   421

   422

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

   423

   424

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

   425

 *

   426

 * Const version.

   427

 *

   428

 * \return Search result, or NULL.

   429

 */

   430

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   431

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

   432

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

   433

        )

   434

{

   435

    const ec_sdo_request_t *req;

   436

   437

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

   438

        if (pos--)

   439

            continue;

   440

        return req;

   441

    }

   442

   443

    return NULL;

   444

}

   445

   446

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

   447

   448

/** Get the number of IDN configurations.

   449

 *

   450

 * \return Number of SDO configurations.

   451

 */

   452

unsigned int ec_slave_config_idn_count(

   453

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

   454

        )

   455

{

   456

    const ec_soe_request_t *req;

   457

    unsigned int count = 0;

   458

   459

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

   460

        count++;

   461

    }

   462

   463

    return count;

   464

}

   465

   466

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

   467

   468

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

   469

 *

   470

 * Const version.

   471

 *

   472

 * \return Search result, or NULL.

   473

 */

   474

const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(

   475

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

   476

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

   477

        )

   478

{

   479

    const ec_soe_request_t *req;

   480

   481

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

   482

        if (pos--)

   483

            continue;

   484

        return req;

   485

    }

   486

   487

    return NULL;

   488

}

   489

   490

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

   491

   492

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

   493

 *

   494

 * \return Search result, or NULL.