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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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   Canopen-over-EtherCAT functions.

    37

*/

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    39

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

    40

    41

#include <linux/module.h>

    42

    43

#include "canopen.h"

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#include "master.h"

    45

    46

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

    47

    48

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

    49

ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

    50

                                    char *);

    51

void ec_sdo_clear(struct kobject *);

    52

void ec_sdo_entry_clear(struct kobject *);

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    54

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

    55

    56

/** \cond */

    57

    58

EC_SYSFS_READ_ATTR(info);

    59

EC_SYSFS_READ_ATTR(value);

    60

    61

static struct attribute *sdo_def_attrs[] = {

    62

    &attr_info,

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    NULL,

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};

    65

    66

static struct sysfs_ops sdo_sysfs_ops = {

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    .show = &ec_show_sdo_attribute,

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    .store = NULL

    69

};

    70

    71

static struct kobj_type ktype_ec_sdo = {

    72

    .release = ec_sdo_clear,

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    .sysfs_ops = &sdo_sysfs_ops,

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    .default_attrs = sdo_def_attrs

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};

    76

    77

static struct attribute *sdo_entry_def_attrs[] = {

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    &attr_info,

    79

    &attr_value,

    80

    NULL,

    81

};

    82

    83

static struct sysfs_ops sdo_entry_sysfs_ops = {

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    .show = &ec_show_sdo_entry_attribute,

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    .store = NULL

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};

    87

    88

static struct kobj_type ktype_ec_sdo_entry = {

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    .release = ec_sdo_entry_clear,

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    .sysfs_ops = &sdo_entry_sysfs_ops,

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    .default_attrs = sdo_entry_def_attrs

    92

};

    93

    94

/** \endcond */

    95

    96

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

    97

    98

/**

    99

   SDO constructor.

   100

*/

   101

   102

int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */

   103

                uint16_t index, /**< SDO index */

   104

                ec_slave_t *slave /**< parent slave */

   105

                )

   106

{

   107

    sdo->slave = slave;

   108

    sdo->index = index;

   109

    sdo->object_code = 0x00;

   110

    sdo->name = NULL;

   111

    sdo->subindices = 0;

   112

    INIT_LIST_HEAD(&sdo->entries);

   113

   114

    // init kobject and add it to the hierarchy

   115

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

   116

    kobject_init(&sdo->kobj);

   117

    sdo->kobj.ktype = &ktype_ec_sdo;

   118

    sdo->kobj.parent = &slave->sdo_kobj;

   119

    if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {

   120

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

   121

        kobject_put(&sdo->kobj);

   122

        return -1;

   123

    }

   124

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

   125

        EC_ERR("Failed to add SDO kobject.\n");

   126

        kobject_put(&sdo->kobj);

   127

        return -1;

   128

    }

   129

   130

    return 0;

   131

}

   132

   133

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

   134

   135

/**

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   SDO destructor.

   137

   Clears and frees an SDO object.

   138

*/

   139

   140

void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)

   141

{

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    ec_sdo_entry_t *entry, *next;

   143

   144

    // free all entries

   145

    list_for_each_entry_safe(entry, next, &sdo->entries, list) {

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        list_del(&entry->list);

   147

        ec_sdo_entry_destroy(entry);

   148

    }

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   150

    // destroy self

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    kobject_del(&sdo->kobj);

   152

    kobject_put(&sdo->kobj);

   153

}

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   155

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

   156

   157

/**

   158

   Clear and free SDO.

   159

   This method is called by the kobject,

   160

   once there are no more references to it.

   161

*/

   162

   163

void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)

   164

{

   165

    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   166

   167

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

   168

   169

    kfree(sdo);

   170

}

   171

   172

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

   173

   174

/**

   175

 * Get and SDO entry from an SDO via its subindex.

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 * \return pointer to SDO entry, or NULL.

   177

 */

   178

   179

ec_sdo_entry_t *ec_sdo_get_entry(

   180

        ec_sdo_t *sdo, /**< SDO */

   181

        uint8_t subindex /**< entry subindex */

   182

        )

   183

{

   184

    ec_sdo_entry_t *entry;

   185

   186

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

   187

        if (entry->subindex != subindex) continue;

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        return entry;

   189

    }

   190

   191

    return NULL;

   192

}

   193

   194

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

   195

   196

/**

   197

 * Print SDO information to a buffer.

   198

 * /return size of bytes written to buffer.

   199

 */ 

   200

   201

ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */

   202

                    char *buffer /**< target buffer */

   203

                    )

   204

{

   205

    off_t off = 0;

   206

   207

    off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);

   208

    off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");

   209

    off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);

   210

   211

    return off;

   212

}

   213

   214

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

   215

   216

/**

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 * Show an SDO as Sysfs attribute.

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 * /return size of bytes written to buffer.

   219

 */ 

   220

   221

ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */

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                              struct attribute *attr,

   223

                              char *buffer

   224

                              )

   225

{

   226

    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   227

   228

    if (attr == &attr_info) {

   229

        return ec_sdo_info(sdo, buffer);

   230

    }

   231

   232

    return 0;

   233

}

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   235

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

   236

   237

/**

   238

   SDO entry constructor.

   239

*/

   240

   241

int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */

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                      uint8_t subindex, /**< SDO entry subindex */

   243

                      ec_sdo_t *sdo /**< parent SDO */

   244

                      )

   245

{

   246

    entry->sdo = sdo;

   247

    entry->subindex = subindex;

   248

    entry->data_type = 0x0000;

   249

    entry->bit_length = 0;

   250

    entry->description = NULL;

   251

   252

    // init kobject and add it to the hierarchy

   253

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

   254

    kobject_init(&entry->kobj);

   255

    entry->kobj.ktype = &ktype_ec_sdo_entry;

   256

    entry->kobj.parent = &sdo->kobj;

   257

    if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {

   258

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

   259

        kobject_put(&entry->kobj);

   260

        return -1;

   261

    }

   262

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

   263

        EC_ERR("Failed to add entry kobject.\n");

   264

        kobject_put(&entry->kobj);

   265

        return -1;

   266

    }

   267

   268

    return 0;

   269

}

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   271

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

   272

   273

/**

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   SDO entry destructor.

   275

   Clears and frees an SDO entry object.

   276

*/

   277

   278

void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)

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{

   280

    // destroy self

   281

    kobject_del(&entry->kobj);

   282

    kobject_put(&entry->kobj);

   283

}

   284

   285

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

   286

   287

/**

   288

   Clear and free SDO entry.

   289

   This method is called by the kobject,

   290

   once there are no more references to it.

   291

*/

   292

   293

void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)

   294

{

   295

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   296

   297

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

   298

   299

    kfree(entry);

   300

}

   301

   302

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

   303

   304

/**

   305

 * Print SDO entry information to a buffer.

   306

 * \return number of bytes written.

   307

 */

   308

   309

ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */

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                          char *buffer /**< target buffer */

   311

                          )

   312

{

   313

    off_t off = 0;

   314

   315

    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

   316

    off += sprintf(buffer + off, "Description: %s\n",

   317

                   entry->description ? entry->description : "");

   318

    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

   319

    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

   320

   321

    return off;

   322

}

   323

   324

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

   325

   326

/**

   327

 * Format entry data based on the CANopen data type and print it to a buffer.

   328

 * \return number of bytes written.

   329

 */

   330

   331

ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */

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                                 ec_sdo_request_t *request, /**< SDO request */

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                                 char *buffer /**< target buffer */

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                                 )

   335

{

   336

    off_t off = 0;

   337

    unsigned int i;

   338

   339

    if (entry->data_type == 0x0002) { // int8

   340

        int8_t value;

   341

        if (entry->bit_length != 8)

   342

            goto not_fit;

   343

        value = EC_READ_S8(request->data);

   344

        off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);

   345

    }

   346

    else if (entry->data_type == 0x0003) { // int16

   347

        int16_t value;

   348

        if (entry->bit_length != 16)

   349

            goto not_fit;

   350

        value = EC_READ_S16(request->data);

   351

        off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);

   352

    }

   353

    else if (entry->data_type == 0x0004) { // int32

   354

        int32_t value;

   355

        if (entry->bit_length != 32)

   356

            goto not_fit;

   357

        value = EC_READ_S16(request->data);

   358

        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   359

    }

   360

    else if (entry->data_type == 0x0005) { // uint8

   361

        uint8_t value;

   362

        if (entry->bit_length != 8)

   363

            goto not_fit;

   364

        value = EC_READ_U8(request->data);

   365

        off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);

   366

    }

   367

    else if (entry->data_type == 0x0006) { // uint16

   368

        uint16_t value;

   369

        if (entry->bit_length != 16)

   370

            goto not_fit;

   371

        value = EC_READ_U16(request->data); 

   372

        off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);

   373

    }

   374

    else if (entry->data_type == 0x0007) { // uint32

   375

        uint32_t value;

   376

        if (entry->bit_length != 32)

   377

            goto not_fit;

   378

        value = EC_READ_U32(request->data);

   379

        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   380

    }

   381

    else if (entry->data_type == 0x0009) { // string

   382

        off += sprintf(buffer + off, "%s\n", request->data);

   383

    }

   384

    else {

   385

        off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",

   386

                entry->data_type);

   387

        goto raw_data;

   388

    }

   389

    return off;

   390

   391

not_fit:

   392

    off += sprintf(buffer + off,

   393

            "Invalid bit length %u for data type 0x%04X. Data:\n",

   394

            entry->bit_length, entry->data_type);

   395

raw_data:

   396

    for (i = 0; i < request->size; i++)

   397

        off += sprintf(buffer + off, "%02X (%c)\n",

   398

                request->data[i], request->data[i]);

   399

    return off;

   400

}

   401

   402

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

   403

   404

/**

   405

 * Start SDO entry reading.

   406

 * This function blocks, until reading is finished, and is interruptible as

   407

 * long as the master state machine has not begun with reading.

   408

 * \return number of bytes written to buffer, or error code.

   409

 */

   410

   411

ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */

   412

                                char *buffer /**< target buffer */

   413

                                )

   414

{

   415

    ec_master_t *master = entry->sdo->slave->master;

   416

    off_t off = 0;

   417

    ec_sdo_request_t request;

   418

   419

    ec_sdo_request_init_read(&request, entry);

   420

   421

    // schedule request.

   422

    down(&master->sdo_sem);

   423

    list_add_tail(&request.list, &master->sdo_requests);

   424

    up(&master->sdo_sem);

   425

   426

    // wait for processing through FSM

   427

    if (wait_event_interruptible(master->sdo_queue,

   428

                request.state != EC_REQUEST_QUEUED)) {

   429

        // interrupted by signal

   430

        down(&master->sdo_sem);

   431

        if (request.state == EC_REQUEST_QUEUED) {

   432

            list_del(&request.list);

   433

            up(&master->sdo_sem);

   434

            return -EINTR;

   435

        }

   436

        // request already processing: interrupt not possible.

   437

        up(&master->sdo_sem);

   438

    }

   439

   440

    // wait until master FSM has finished processing

   441

    wait_event(master->sdo_queue, request.state != EC_REQUEST_IN_PROGRESS);

   442

   443

    if (request.state != EC_REQUEST_COMPLETE)

   444

        return -EIO;

   445

   446

    off += ec_sdo_entry_format_data(entry, &request, buffer);

   447

   448

    ec_sdo_request_clear(&request);

   449

    return off;

   450

}

   451

   452

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

   453

   454

/**

   455

 * Show an SDO entry as Sysfs attribute.

   456

 * /return size of bytes written to buffer.

   457

 */ 

   458

   459

ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */

   460

                                    struct attribute *attr,

   461

                                    char *buffer

   462

                                    )

   463

{

   464

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   465

   466

    if (attr == &attr_info) {

   467

        return ec_sdo_entry_info(entry, buffer);

   468

    }

   469

    else if (attr == &attr_value) {

   470

        return ec_sdo_entry_read_value(entry, buffer);

   471

    }

   472

   473

    return 0;

   474

}

   475

   476

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

   477

   478

/**

   479

   SDO request constructor.

   480

*/

   481

   482

void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */

   483

                              ec_sdo_entry_t *entry /**< SDO entry */

   484

                              )

   485

{

   486

    req->entry = entry;

   487

    req->data = NULL;

   488

    req->size = 0;

   489

    req->state = EC_REQUEST_QUEUED;

   490

}

   491

   492

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

   493

   494

/**

   495

   SDO request destructor.

   496

*/

   497

   498

void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)

   499

{

   500

    if (req->data) kfree(req->data);

   501

}

   502

   503

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