1

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

     2

 *

     3

 *  s l a v e . c

     4

 *

     5

 *  Methoden für einen EtherCAT-Slave.

     6

 *

     7

 *  $Id$

     8

 *

     9

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

    10

    11

#include <linux/module.h>

    12

#include <linux/delay.h>

    13

    14

#include "globals.h"

    15

#include "slave.h"

    16

#include "command.h"

    17

#include "master.h"

    18

    19

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

    20

    21

int ec_slave_fetch_categories(ec_slave_t *);

    22

int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);

    23

int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);

    24

int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);

    25

int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);

    26

int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);

    27

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

    28

    29

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

    30

    31

EC_SYSFS_READ_ATTR(ring_position);

    32

EC_SYSFS_READ_ATTR(coupler_address);

    33

EC_SYSFS_READ_ATTR(vendor_name);

    34

EC_SYSFS_READ_ATTR(product_name);

    35

EC_SYSFS_READ_ATTR(product_desc);

    36

EC_SYSFS_READ_ATTR(type);

    37

    38

static struct attribute *def_attrs[] = {

    39

    &attr_ring_position,

    40

    &attr_coupler_address,

    41

    &attr_vendor_name,

    42

    &attr_product_name,

    43

    &attr_product_desc,

    44

    &attr_type,

    45

    NULL,

    46

};

    47

    48

static struct sysfs_ops sysfs_ops = {

    49

    .show = &ec_show_slave_attribute,

    50

    .store = NULL

    51

};

    52

    53

static struct kobj_type ktype_ec_slave = {

    54

    .release = ec_slave_clear,

    55

    .sysfs_ops = &sysfs_ops,

    56

    .default_attrs = def_attrs

    57

};

    58

    59

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

    60

    61

const ec_code_msg_t al_status_messages[];

    62

    63

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

    64

    65

/**

    66

   EtherCAT-Slave-Konstruktor.

    67

*/

    68

    69

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

    70

                  ec_master_t *master, /**< EtherCAT-Master */

    71

                  uint16_t ring_position, /**< Ringposition */

    72

                  uint16_t station_address /**< Programmierte Adresse */

    73

                  )

    74

{

    75

    unsigned int i;

    76

    77

    slave->ring_position = ring_position;

    78

    slave->station_address = station_address;

    79

    80

    // Init kobject and add it to the hierarchy

    81

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

    82

    kobject_init(&slave->kobj);

    83

    slave->kobj.ktype = &ktype_ec_slave;

    84

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

    85

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

    86

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

    87

        kobject_put(&slave->kobj);

    88

        return -1;

    89

    }

    90

    91

    slave->master = master;

    92

    slave->coupler_index = 0;

    93

    slave->coupler_subindex = 0xFFFF;

    94

    slave->base_type = 0;

    95

    slave->base_revision = 0;

    96

    slave->base_build = 0;

    97

    slave->base_fmmu_count = 0;

    98

    slave->base_sync_count = 0;

    99

    slave->sii_alias = 0;

   100

    slave->sii_vendor_id = 0;

   101

    slave->sii_product_code = 0;

   102

    slave->sii_revision_number = 0;

   103

    slave->sii_serial_number = 0;

   104

    slave->sii_rx_mailbox_offset = 0;

   105

    slave->sii_rx_mailbox_size = 0;

   106

    slave->sii_tx_mailbox_offset = 0;

   107

    slave->sii_tx_mailbox_size = 0;

   108

    slave->sii_mailbox_protocols = 0;

   109

    slave->type = NULL;

   110

    slave->registered = 0;

   111

    slave->fmmu_count = 0;

   112

    slave->eeprom_name = NULL;

   113

    slave->eeprom_group = NULL;

   114

    slave->eeprom_desc = NULL;

   115

   116

    ec_command_init(&slave->mbox_command);

   117

   118

    INIT_LIST_HEAD(&slave->eeprom_strings);

   119

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   120

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   121

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   122

   123

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

   124

        slave->dl_link[i] = 0;

   125

        slave->dl_loop[i] = 0;

   126

        slave->dl_signal[i] = 0;

   127

    }

   128

   129

    return 0;

   130

}

   131

   132

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

   133

   134

/**

   135

   EtherCAT-Slave-Destruktor.

   136

*/

   137

   138

void ec_slave_clear(struct kobject *kobj /**< KObject des Slaves */)

   139

{

   140

    ec_slave_t *slave;

   141

    ec_eeprom_string_t *string, *next_str;

   142

    ec_eeprom_sync_t *sync, *next_sync;

   143

    ec_eeprom_pdo_t *pdo, *next_pdo;

   144

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   145

    ec_sdo_t *sdo, *next_sdo;

   146

    ec_sdo_entry_t *en, *next_en;

   147

   148

    slave = container_of(kobj, ec_slave_t, kobj);

   149

   150

    // Alle Strings freigeben

   151

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

   152

        list_del(&string->list);

   153

        kfree(string);

   154

    }

   155

   156

    // Alle Sync-Manager freigeben

   157

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

   158

        list_del(&sync->list);

   159

        kfree(sync);

   160

    }

   161

   162

    // Alle PDOs freigeben

   163

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

   164

        list_del(&pdo->list);

   165

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

   166

   167

        // Alle Entries innerhalb eines PDOs freigeben

   168

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

   169

            list_del(&entry->list);

   170

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

   171

            kfree(entry);

   172

        }

   173

   174

        kfree(pdo);

   175

    }

   176

   177

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

   178

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

   179

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

   180

   181

    // Alle SDOs freigeben

   182

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

   183

        list_del(&sdo->list);

   184

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

   185

   186

        // Alle Entries freigeben

   187

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

   188

            list_del(&en->list);

   189

            kfree(en);

   190

        }

   191

        kfree(sdo);

   192

    }

   193

   194

    ec_command_clear(&slave->mbox_command);

   195

}

   196

   197

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

   198

   199

/**

   200

   Liest alle benötigten Informationen aus einem Slave.

   201

   202

   \return 0 wenn alles ok, < 0 bei Fehler.

   203

*/

   204

   205

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

   206

{

   207

    ec_command_t *command;

   208

    unsigned int i;

   209

    uint16_t dl_status;

   210

   211

    command = &slave->master->simple_command;

   212

   213

    // Read base data

   214

    if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;

   215

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   216

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

   217

               slave->ring_position);

   218

        return -1;

   219

    }

   220

   221

    slave->base_type =       EC_READ_U8 (command->data);

   222

    slave->base_revision =   EC_READ_U8 (command->data + 1);

   223

    slave->base_build =      EC_READ_U16(command->data + 2);

   224

    slave->base_fmmu_count = EC_READ_U8 (command->data + 4);

   225

    slave->base_sync_count = EC_READ_U8 (command->data + 5);

   226

   227

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   228

        slave->base_fmmu_count = EC_MAX_FMMUS;

   229

   230

    // Read DL status

   231

    if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;

   232

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   233

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

   234

               slave->ring_position);

   235

        return -1;

   236

    }

   237

   238

    dl_status = EC_READ_U16(command->data);

   239

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

   240

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

   241

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

   242

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

   243

    }

   244

   245

    // Read EEPROM data

   246

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

   247

        return -1;

   248

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

   249

        return -1;

   250

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

   251

        return -1;

   252

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

   253

        return -1;

   254

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

   255

        return -1;

   256

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

   257

        return -1;

   258

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

   259

        return -1;

   260

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

   261

        return -1;

   262

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

   263

        return -1;

   264

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

   265

        return -1;

   266

   267

    if (unlikely(ec_slave_fetch_categories(slave))) {

   268

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

   269

        return -1;

   270

    }

   271

   272

    return 0;

   273

}

   274

   275

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

   276

   277

/**

   278

   Liest 16 Bit aus dem Slave-Information-Interface

   279

   eines EtherCAT-Slaves.

   280

   281

   \return 0 bei Erfolg, sonst < 0

   282

*/

   283

   284

int ec_slave_sii_read16(ec_slave_t *slave,

   285

                        /**< EtherCAT-Slave */

   286

                        uint16_t offset,

   287

                        /**< Adresse des zu lesenden SII-Registers */

   288

                        uint16_t *target

   289

                        /**< Speicher für Wert (16-Bit) */

   290

                        )

   291

{

   292

    ec_command_t *command;

   293

    cycles_t start, end, timeout;

   294

   295

    command = &slave->master->simple_command;

   296

   297

    // Initiate read operation

   298

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   299

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   300

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   301

    EC_WRITE_U32(command->data + 2, offset);

   302

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   303

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

   304

        return -1;

   305

    }

   306

   307

    // Der Slave legt die Informationen des Slave-Information-Interface

   308

    // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange

   309

    // den Status auslesen, bis das Bit weg ist.

   310

   311

    start = get_cycles();

   312

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

   313

   314

    while (1)

   315

    {

   316

        udelay(10);

   317

   318

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   319

            return -1;

   320

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   321

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

   322

                   slave->ring_position);

   323

            return -1;

   324

        }

   325

   326

        end = get_cycles();

   327

   328

        if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {

   329

            *target = EC_READ_U16(command->data + 6);

   330

            return 0;

   331

        }

   332

   333

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

   334

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

   335

            return -1;

   336

        }

   337

    }

   338

}

   339

   340

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

   341

   342

/**

   343

   Liest 32 Bit aus dem Slave-Information-Interface

   344

   eines EtherCAT-Slaves.

   345

   346

   \return 0 bei Erfolg, sonst < 0

   347

*/

   348

   349

int ec_slave_sii_read32(ec_slave_t *slave,

   350

                        /**< EtherCAT-Slave */

   351

                        uint16_t offset,

   352

                        /**< Adresse des zu lesenden SII-Registers */

   353

                        uint32_t *target

   354

                        /**< Speicher für Wert (32-Bit) */

   355

                        )

   356

{

   357

    ec_command_t *command;

   358

    cycles_t start, end, timeout;

   359

   360

    command = &slave->master->simple_command;

   361

   362

    // Initiate read operation

   363

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   364

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   365

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   366

    EC_WRITE_U32(command->data + 2, offset);

   367

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   368

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

   369

        return -1;

   370

    }

   371

   372

    // Der Slave legt die Informationen des Slave-Information-Interface

   373

    // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange

   374

    // den Status auslesen, bis das Bit weg ist.

   375

   376

    start = get_cycles();

   377

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

   378

   379

    while (1)

   380

    {

   381

        udelay(10);

   382

   383

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   384

            return -1;

   385

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   386

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

   387

                   slave->ring_position);

   388

            return -1;

   389

        }

   390

   391

        end = get_cycles();

   392

   393

        if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {

   394

            *target = EC_READ_U32(command->data + 6);

   395

            return 0;

   396

        }

   397

   398

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

   399

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

   400

            return -1;

   401

        }

   402

    }

   403

}

   404

   405

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

   406

   407

/**

   408

   Schreibt 16 Bit Daten in das Slave-Information-Interface

   409

   eines EtherCAT-Slaves.

   410

   411

   \return 0 bei Erfolg, sonst < 0

   412

*/

   413

   414

int ec_slave_sii_write16(ec_slave_t *slave,

   415

                         /**< EtherCAT-Slave */

   416

                         uint16_t offset,

   417

                         /**< Adresse des zu lesenden SII-Registers */

   418

                         uint16_t value

   419

                         /**< Zu schreibender Wert */

   420

                         )

   421

{

   422

    ec_command_t *command;

   423

    cycles_t start, end, timeout;

   424

   425

    command = &slave->master->simple_command;

   426

   427

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

   428

            slave->ring_position, offset, value);

   429

   430

    // Initiate write operation

   431

    if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;

   432

    EC_WRITE_U8 (command->data,     0x01); // enable write access

   433

    EC_WRITE_U8 (command->data + 1, 0x02); // request write operation

   434

    EC_WRITE_U32(command->data + 2, offset);

   435

    EC_WRITE_U16(command->data + 6, value);

   436

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   437

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

   438

        return -1;

   439

    }

   440

   441

    // Der Slave legt die Informationen des Slave-Information-Interface

   442

    // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange

   443

    // den Status auslesen, bis das Bit weg ist.

   444

   445

    start = get_cycles();

   446

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

   447

   448

    while (1)

   449

    {

   450

        udelay(10);

   451

   452

        if (ec_command_nprd(command, slave->station_address, 0x502, 2))

   453

            return -1;

   454

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   455

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

   456

                   slave->ring_position);

   457

            return -1;

   458

        }

   459

   460

        end = get_cycles();

   461

   462

        if (likely((EC_READ_U8(command->data + 1) & 0x82) == 0)) {

   463

            if (EC_READ_U8(command->data + 1) & 0x40) {

   464

                EC_ERR("SII-write failed!\n");

   465

                return -1;

   466

            }

   467

            else {

   468

                EC_INFO("SII-write succeeded!\n");

   469

                return 0;

   470

            }

   471

        }

   472

   473

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

   474

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

   475

            return -1;

   476

        }

   477

    }

   478

}

   479

   480

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

   481

   482

/**

   483

   Holt Daten aus dem EEPROM.

   484

   485

   \return 0, wenn alles ok, sonst < 0

   486

*/

   487