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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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

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 *  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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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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 *  along 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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 *

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

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 *  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

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 *  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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 *

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

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/**

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   \file

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   EtherCAT slave methods.

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*/

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

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#include <linux/module.h>

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#include <linux/delay.h>

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#include "globals.h"

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#include "slave.h"

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#include "master.h"

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

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    51

extern const ec_code_msg_t al_status_messages[];

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

    54

    55

int ec_slave_fetch_categories(ec_slave_t *);

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ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);

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ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

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                                 const char *, size_t);

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

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    62

/** \cond */

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    64

EC_SYSFS_READ_ATTR(ring_position);

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EC_SYSFS_READ_WRITE_ATTR(state);

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EC_SYSFS_READ_WRITE_ATTR(eeprom);

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static struct attribute *def_attrs[] = {

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    &attr_ring_position,

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    &attr_vendor_name,

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    &attr_product_name,

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    &attr_product_desc,

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    &attr_type,

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    &attr_state,

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    &attr_eeprom,

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    NULL,

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};

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static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_attribute,

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    .store = ec_store_slave_attribute

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};

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static struct kobj_type ktype_ec_slave = {

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    .release = ec_slave_clear,

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    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

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};

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/** \endcond */

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

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   102

/**

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   Slave constructor.

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   \return 0 in case of success, else < 0

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*/

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int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */

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

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                  uint16_t ring_position, /**< ring position */

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                  uint16_t station_address /**< station address to configure */

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                  )

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{

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    unsigned int i;

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    slave->ring_position = ring_position;

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    slave->station_address = station_address;

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    // init kobject and add it to the hierarchy

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

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    kobject_init(&slave->kobj);

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    slave->kobj.ktype = &ktype_ec_slave;

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

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    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

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        EC_ERR("Failed to set kobject name.\n");

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        kobject_put(&slave->kobj);

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        return -1;

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    }

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    slave->master = master;

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    slave->coupler_index = 0;

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    slave->coupler_subindex = 0xFFFF;

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    slave->base_type = 0;

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    slave->base_revision = 0;

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    slave->base_build = 0;

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    slave->base_fmmu_count = 0;

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    slave->base_sync_count = 0;

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    slave->sii_alias = 0;

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    slave->sii_vendor_id = 0;

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    slave->sii_product_code = 0;

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    slave->sii_revision_number = 0;

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    slave->sii_serial_number = 0;

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    slave->sii_rx_mailbox_offset = 0;

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    slave->sii_rx_mailbox_size = 0;

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    slave->sii_tx_mailbox_offset = 0;

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    slave->sii_tx_mailbox_size = 0;

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    slave->sii_mailbox_protocols = 0;

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    slave->type = NULL;

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    slave->registered = 0;

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    slave->fmmu_count = 0;

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    slave->eeprom_data = NULL;

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    slave->eeprom_size = 0;

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    slave->eeprom_group = NULL;

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    slave->eeprom_image = NULL;

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    slave->eeprom_order = NULL;

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    slave->eeprom_name = NULL;

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    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

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    slave->online = 1;

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    slave->new_eeprom_data = NULL;

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    slave->new_eeprom_size = 0;

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    INIT_LIST_HEAD(&slave->eeprom_strings);

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    INIT_LIST_HEAD(&slave->eeprom_syncs);

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    INIT_LIST_HEAD(&slave->eeprom_pdos);

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    INIT_LIST_HEAD(&slave->sdo_dictionary);

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    INIT_LIST_HEAD(&slave->varsize_fields);

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

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        slave->dl_link[i] = 0;

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        slave->dl_loop[i] = 0;

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        slave->dl_signal[i] = 0;

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        slave->sii_physical_layer[i] = 0xFF;

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    }

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    return 0;

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}

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

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   181

/**

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   Slave destructor.

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*/

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void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

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{

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    ec_slave_t *slave;

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    ec_eeprom_string_t *string, *next_str;

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    ec_eeprom_sync_t *sync, *next_sync;

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    ec_eeprom_pdo_t *pdo, *next_pdo;

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    ec_eeprom_pdo_entry_t *entry, *next_ent;

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    ec_sdo_t *sdo, *next_sdo;

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    ec_sdo_entry_t *en, *next_en;

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    ec_varsize_t *var, *next_var;

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    slave = container_of(kobj, ec_slave_t, kobj);

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    // free all string objects

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    list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {

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        list_del(&string->list);

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        kfree(string);

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    }

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    // free all sync managers

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    list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {

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        list_del(&sync->list);

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        kfree(sync);

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    }

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    // free all PDOs

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    list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {

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        list_del(&pdo->list);

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        if (pdo->name) kfree(pdo->name);

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        // free all PDO entries

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        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

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            list_del(&entry->list);

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            if (entry->name) kfree(entry->name);

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            kfree(entry);

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        }

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        kfree(pdo);

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    }

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    if (slave->eeprom_group) kfree(slave->eeprom_group);

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    if (slave->eeprom_image) kfree(slave->eeprom_image);

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    if (slave->eeprom_order) kfree(slave->eeprom_order);

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    if (slave->eeprom_name) kfree(slave->eeprom_name);

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    // free all SDOs

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

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        list_del(&sdo->list);

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        if (sdo->name) kfree(sdo->name);

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        // free all SDO entries

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        list_for_each_entry_safe(en, next_en, &sdo->entries, list) {

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            list_del(&en->list);

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            kfree(en);

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        }

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        kfree(sdo);

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    }

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    // free information about variable sized data fields

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    list_for_each_entry_safe(var, next_var, &slave->varsize_fields, list) {

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        list_del(&var->list);

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        kfree(var);

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    }

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    if (slave->eeprom_data) kfree(slave->eeprom_data);

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    if (slave->new_eeprom_data) kfree(slave->new_eeprom_data);

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}

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

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/**

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   Reads all necessary information from a slave.

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   \return 0 in case of success, else < 0

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*/

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int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT slave */)

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{

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    unsigned int i;

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    uint16_t dl_status;

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    // read base data

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        EC_ERR("Reading base data from slave %i failed!\n",

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               slave->ring_position);

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        return -1;

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    }

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    if (slave->base_fmmu_count > EC_MAX_FMMUS)

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        slave->base_fmmu_count = EC_MAX_FMMUS;

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    // read data link status

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        EC_ERR("Reading DL status from slave %i failed!\n",

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               slave->ring_position);

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        return -1;

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    }

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

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        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;

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        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;

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        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;

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    }

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    // read EEPROM data

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    if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))

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        return -1;

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    if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))

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        return -1;

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    if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))

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        return -1;

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    if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))

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        return -1;

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    if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))

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        return -1;

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    if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))

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        return -1;

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    if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))

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        return -1;

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    if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))

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        return -1;

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    if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))

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        return -1;

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    if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))

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        return -1;

   323

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    if (unlikely(ec_slave_fetch_categories(slave))) {

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        EC_ERR("Failed to fetch category data!\n");

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        return -1;

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    }

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   329

    return 0;

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}

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

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   334

/**

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   Reads 16 bit from the slave information interface (SII).

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   \return 0 in case of success, else < 0

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*/

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int ec_slave_sii_read16(ec_slave_t *slave,

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                        /**< EtherCAT slave */

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                        uint16_t offset,

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                        /**< address of the SII register to read */

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                        uint16_t *target

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                        /**< target memory */

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                        )

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{

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    cycles_t start, end, timeout;

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   351

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    // initiate read operation

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        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

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        return -1;

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    }

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   363

    start = get_cycles();

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    timeout = (cycles_t) 100 * cpu_khz; // 100ms

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   366

    while (1)

   367

    {

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        udelay(10);

   369

   373

            EC_ERR("Getting SII-read status failed on slave %i!\n",

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                   slave->ring_position);

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            return -1;

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        }

   377

   378

        end = get_cycles();

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   380

        // check for "busy bit"

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            return 0;

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        }

   385

   386

        if (unlikely((end - start) >= timeout)) {

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            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);

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            return -1;

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        }

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    }

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}

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   393

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

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   395

/**

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   Reads 32 bit from the slave information interface (SII).

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   \return 0 in case of success, else < 0

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*/

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   400

int ec_slave_sii_read32(ec_slave_t *slave,

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                        /**< EtherCAT slave */

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                        uint16_t offset,

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                        /**< address of the SII register to read */

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                        uint32_t *target

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                        /**< target memory */

   406

                        )

   407

{

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    cycles_t start, end, timeout;

   410

   412

   413

    // initiate read operation

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        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

   421

        return -1;

   422

    }

   423

   424

    start = get_cycles();

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    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   426

   427

    while (1)

   428

    {

   429

        udelay(10);

   430

   434

            EC_ERR("Getting SII-read status failed on slave %i!\n",

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                   slave->ring_position);

   436

            return -1;

   437

        }

   438

   439

        end = get_cycles();

   440

   441

        // check "busy bit"

   444

            return 0;

   445

        }

   446

   447

        if (unlikely((end - start) >= timeout)) {

   448

            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);

   449

            return -1;

   450

        }

   451

    }

   452

}

   453

   454

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

   455

   456

/**

   457

   Writes 16 bit of data to the slave information interface (SII).

   458

   \return 0 in case of success, else < 0

   459

*/

   460

   461

int ec_slave_sii_write16(ec_slave_t *slave,

   462

                         /**< EtherCAT slave */

   463

                         uint16_t offset,

   464

                         /**< address of the SII register to write */

   465

                         uint16_t value

   466

                         /**< new value */

   467

                         )

   468

{

   470

    cycles_t start, end, timeout;

   471

   473

   474

    EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",

   475

            slave->ring_position, offset, value);

   476

   477

    // initiate write operation