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

     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

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 *  published by the Free Software Foundation.

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 *

    13

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  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 along

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 *  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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 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/delay.h>

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

    45

#include "slave.h"

    46

    47

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

    48

    49

extern const ec_code_msg_t al_status_messages[];

    50

    51

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

    52

    53

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    54

    55

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

    56

    57

/**

    58

   Slave constructor.

    59

   \return 0 in case of success, else < 0

    60

*/

    61

    62

void ec_slave_init(

    63

        ec_slave_t *slave, /**< EtherCAT slave */

    64

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

    65

        ec_device_index_t dev_idx, /**< Device index. */

    66

        uint16_t ring_position, /**< ring position */

    67

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

    68

        )

    69

{

    70

    unsigned int i;

    71

    72

    slave->master = master;

    73

    slave->device_index = dev_idx;

    74

    slave->ring_position = ring_position;

    75

    slave->station_address = station_address;

    76

    slave->effective_alias = 0x0000;

    77

    78

    slave->config = NULL;

    79

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    80

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    81

    slave->error_flag = 0;

    82

    slave->force_config = 0;

    83

    slave->configured_rx_mailbox_offset = 0x0000;

    84

    slave->configured_rx_mailbox_size = 0x0000;

    85

    slave->configured_tx_mailbox_offset = 0x0000;

    86

    slave->configured_tx_mailbox_size = 0x0000;

    87

    88

    slave->base_type = 0;

    89

    slave->base_revision = 0;

    90

    slave->base_build = 0;

    91

    slave->base_fmmu_count = 0;

    92

    slave->base_sync_count = 0;

    93

    94

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

    95

        slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;

    96

    97

        slave->ports[i].link.link_up = 0;

    98

        slave->ports[i].link.loop_closed = 0;

    99

        slave->ports[i].link.signal_detected = 0;

   100

        slave->sii.physical_layer[i] = 0xFF;

   101

   102

        slave->ports[i].receive_time = 0U;

   103

   104

        slave->ports[i].next_slave = NULL;

   105

        slave->ports[i].delay_to_next_dc = 0U;

   106

    }

   107

   108

    slave->base_fmmu_bit_operation = 0;

   109

    slave->base_dc_supported = 0;

   110

    slave->base_dc_range = EC_DC_32;

   111

    slave->has_dc_system_time = 0;

   112

    slave->transmission_delay = 0U;

   113

   114

    slave->sii_words = NULL;

   115

    slave->sii_nwords = 0;

   116

   117

    slave->sii.alias = 0x0000;

   118

    slave->sii.vendor_id = 0x00000000;

   119

    slave->sii.product_code = 0x00000000;

   120

    slave->sii.revision_number = 0x00000000;

   121

    slave->sii.serial_number = 0x00000000;

   122

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   123

    slave->sii.boot_rx_mailbox_size = 0x0000;

   124

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   125

    slave->sii.boot_tx_mailbox_size = 0x0000;

   126

    slave->sii.std_rx_mailbox_offset = 0x0000;

   127

    slave->sii.std_rx_mailbox_size = 0x0000;

   128

    slave->sii.std_tx_mailbox_offset = 0x0000;

   129

    slave->sii.std_tx_mailbox_size = 0x0000;

   130

    slave->sii.mailbox_protocols = 0;

   131

   132

    slave->sii.strings = NULL;

   133

    slave->sii.string_count = 0;

   134

   135

    slave->sii.has_general = 0;

   136

    slave->sii.group = NULL;

   137

    slave->sii.image = NULL;

   138

    slave->sii.order = NULL;

   139

    slave->sii.name = NULL;

   140

    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));

   141

    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));

   142

    slave->sii.current_on_ebus = 0;

   143

   144

    slave->sii.syncs = NULL;

   145

    slave->sii.sync_count = 0;

   146

   147

    INIT_LIST_HEAD(&slave->sii.pdos);

   148

   149

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   150

   151

    slave->sdo_dictionary_fetched = 0;

   152

    slave->jiffies_preop = 0;

   153

   154

    INIT_LIST_HEAD(&slave->sdo_requests);

   155

    INIT_LIST_HEAD(&slave->reg_requests);

   156

    INIT_LIST_HEAD(&slave->foe_requests);

   157

    INIT_LIST_HEAD(&slave->soe_requests);

   158

   159

    // create state machine object

   160

    ec_fsm_slave_init(&slave->fsm, slave);

   161

}

   162

   163

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

   164

   165

/**

   166

   Slave destructor.

   167

   Clears and frees a slave object.

   168

*/

   169

   170

void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)

   171

{

   172

    ec_sdo_t *sdo, *next_sdo;

   173

    unsigned int i;

   174

    ec_pdo_t *pdo, *next_pdo;

   175

   176

    // abort all pending requests

   177

   178

    while (!list_empty(&slave->sdo_requests)) {

   179

        ec_sdo_request_t *request =

   180

            list_entry(slave->sdo_requests.next, ec_sdo_request_t, list);

   181

        list_del_init(&request->list); // dequeue

   182

        EC_SLAVE_WARN(slave, "Discarding SDO request,"

   183

                " slave about to be deleted.\n");

   184

        request->state = EC_INT_REQUEST_FAILURE;

   185

    }

   186

   187

    while (!list_empty(&slave->reg_requests)) {

   188

        ec_reg_request_t *reg =

   189

            list_entry(slave->reg_requests.next, ec_reg_request_t, list);

   190

        list_del_init(&reg->list); // dequeue

   191

        EC_SLAVE_WARN(slave, "Discarding register request,"

   192

                " slave about to be deleted.\n");

   193

        reg->state = EC_INT_REQUEST_FAILURE;

   194

    }

   195

   196

    while (!list_empty(&slave->foe_requests)) {

   197

        ec_foe_request_t *request =

   198

            list_entry(slave->foe_requests.next, ec_foe_request_t, list);

   199

        list_del_init(&request->list); // dequeue

   200

        EC_SLAVE_WARN(slave, "Discarding FoE request,"

   201

                " slave about to be deleted.\n");

   202

        request->state = EC_INT_REQUEST_FAILURE;

   203

    }

   204

   205

    while (!list_empty(&slave->soe_requests)) {

   206

        ec_soe_request_t *request =

   207

            list_entry(slave->soe_requests.next, ec_soe_request_t, list);

   208

        list_del_init(&request->list); // dequeue

   209

        EC_SLAVE_WARN(slave, "Discarding SoE request,"

   210

                " slave about to be deleted.\n");

   211

        request->state = EC_INT_REQUEST_FAILURE;

   212

    }

   213

   214

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

   215

   216

    if (slave->config) {

   217

        ec_slave_config_detach(slave->config);

   218

    }

   219

   220

    // free all SDOs

   221

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

   222

        list_del(&sdo->list);

   223

        ec_sdo_clear(sdo);

   224

        kfree(sdo);

   225

    }

   226

   227

    // free all strings

   228

    if (slave->sii.strings) {

   229

        for (i = 0; i < slave->sii.string_count; i++)

   230

            kfree(slave->sii.strings[i]);

   231

        kfree(slave->sii.strings);

   232

    }

   233

   234

    // free all sync managers

   235

    ec_slave_clear_sync_managers(slave);

   236

   237

    // free all SII PDOs

   238

    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {

   239

        list_del(&pdo->list);

   240

        ec_pdo_clear(pdo);

   241

        kfree(pdo);

   242

    }

   243

   244

    if (slave->sii_words) {

   245

        kfree(slave->sii_words);

   246

    }

   247

   248

    ec_fsm_slave_clear(&slave->fsm);

   249

}

   250

   251

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

   252

   253

/** Clear the sync manager array.

   254

 */

   255

void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)

   256

{

   257

    unsigned int i;

   258

   259

    if (slave->sii.syncs) {

   260

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

   261

            ec_sync_clear(&slave->sii.syncs[i]);

   262

        }

   263

        kfree(slave->sii.syncs);

   264

        slave->sii.syncs = NULL;

   265

    }

   266

}

   267

   268

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

   269

   270

/**

   271

 * Sets the application state of a slave.

   272

 */

   273

   274

void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */

   275

        ec_slave_state_t new_state /**< new application state */

   276

        )

   277

{

   278

    if (new_state != slave->current_state) {

   279

        if (slave->master->debug_level) {

   280

            char old_state[EC_STATE_STRING_SIZE],

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                cur_state[EC_STATE_STRING_SIZE];

   282

            ec_state_string(slave->current_state, old_state, 0);

   283

            ec_state_string(new_state, cur_state, 0);

   284

            EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);

   285

        }

   286

        slave->current_state = new_state;

   287

    }

   288

}

   289

   290

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

   291

   292

/**

   293

 * Request a slave state and resets the error flag.

   294

 */

   295

   296

void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */

   297

                            ec_slave_state_t state /**< new state */

   298

                            )

   299

{

   300

    slave->requested_state = state;

   301

    slave->error_flag = 0;

   302

}

   303

   304

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

   305

   306

/**

   307

   Fetches data from a STRING category.

   308

   \todo range checking

   309

   \return 0 in case of success, else < 0

   310

*/

   311

   312

int ec_slave_fetch_sii_strings(

   313

        ec_slave_t *slave, /**< EtherCAT slave */

   314

        const uint8_t *data, /**< category data */

   315

        size_t data_size /**< number of bytes */

   316

        )

   317

{

   318

    int i, err;

   319

    size_t size;

   320

    off_t offset;

   321

   322

    slave->sii.string_count = data[0];

   323

   324

    if (slave->sii.string_count) {

   325

        if (!(slave->sii.strings =

   326

                    kmalloc(sizeof(char *) * slave->sii.string_count,

   327

                        GFP_KERNEL))) {

   328

            EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");

   329

            err = -ENOMEM;

   330

            goto out_zero;

   331

        }

   332

   333

        offset = 1;

   334

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

   335

            size = data[offset];

   336

            // allocate memory for string structure and data at a single blow

   337

            if (!(slave->sii.strings[i] =

   338

                        kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {

   339

                EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");

   340

                err = -ENOMEM;

   341

                goto out_free;

   342

            }

   343

            memcpy(slave->sii.strings[i], data + offset + 1, size);

   344

            slave->sii.strings[i][size] = 0x00; // append binary zero

   345

            offset += 1 + size;

   346

        }

   347

    }

   348

   349

    return 0;

   350

   351

out_free:

   352

    for (i--; i >= 0; i--)

   353

        kfree(slave->sii.strings[i]);

   354

    kfree(slave->sii.strings);

   355

    slave->sii.strings = NULL;

   356

out_zero:

   357

    slave->sii.string_count = 0;

   358

    return err;

   359

}

   360

   361

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

   362

   363

/**

   364

   Fetches data from a GENERAL category.

   365

   \return 0 in case of success, else < 0

   366

*/

   367

   368

int ec_slave_fetch_sii_general(

   369

        ec_slave_t *slave, /**< EtherCAT slave */

   370

        const uint8_t *data, /**< category data */

   371

        size_t data_size /**< size in bytes */

   372

        )

   373

{

   374

    unsigned int i;

   375

    uint8_t flags;

   376

   377

    if (data_size != 32) {

   378

        EC_SLAVE_ERR(slave, "Wrong size of general category (%zu/32).\n",

   379

                data_size);

   380

        return -EINVAL;

   381

    }

   382

   383

    slave->sii.group = ec_slave_sii_string(slave, data[0]);

   384

    slave->sii.image = ec_slave_sii_string(slave, data[1]);

   385

    slave->sii.order = ec_slave_sii_string(slave, data[2]);

   386

    slave->sii.name = ec_slave_sii_string(slave, data[3]);

   387

   388

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

   389

        slave->sii.physical_layer[i] =

   390

            (data[4] & (0x03 << (i * 2))) >> (i * 2);

   391

   392

    // read CoE details

   393

    flags = EC_READ_U8(data + 5);

   394

    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;

   395

    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;

   396

    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;

   397

    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;

   398

    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;

   399

    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;

   400

   401

    // read general flags

   402

    flags = EC_READ_U8(data + 0x000B);

   403

    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;

   404

    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;

   405

   406

    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);

   407

    slave->sii.has_general = 1;

   408

    return 0;

   409

}

   410

   411

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

   412

   413

/** Fetches data from a SYNC MANAGER category.

   414

 *

   415

 * Appends the sync managers described in the category to the existing ones.

   416

 *

   417

 * \return 0 in case of success, else < 0

   418

 */

   419

int ec_slave_fetch_sii_syncs(

   420

        ec_slave_t *slave, /**< EtherCAT slave. */

   421

        const uint8_t *data, /**< Category data. */

   422

        size_t data_size /**< Number of bytes. */

   423

        )

   424

{

   425

    unsigned int i, count, total_count;

   426

    ec_sync_t *sync;

   427

    size_t memsize;

   428

    ec_sync_t *syncs;

   429

    uint8_t index;

   430

   431

    // one sync manager struct is 4 words long

   432

    if (data_size % 8) {

   433

        EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",

   434

                data_size);

   435

        return -EINVAL;

   436

    }

   437

   438

    count = data_size / 8;

   439

   440

    if (count) {

   441

        total_count = count + slave->sii.sync_count;

   442

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   443

            EC_SLAVE_ERR(slave, "Exceeded maximum number of"

   444

                    " sync managers!\n");

   445

            return -EOVERFLOW;

   446

        }

   447

        memsize = sizeof(ec_sync_t) * total_count;

   448

        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {

   449

            EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"

   450

                    " for sync managers.\n", memsize);

   451

            return -ENOMEM;

   452

        }

   453

   454

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

   455

            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);

   456

   457

        // initialize new sync managers

   458

        for (i = 0; i < count; i++, data += 8) {

   459

            index = i + slave->sii.sync_count;

   460

            sync = &syncs[index];

   461

   462

            ec_sync_init(sync, slave);

   463

            sync->physical_start_address = EC_READ_U16(data);

   464

            sync->default_length = EC_READ_U16(data + 2);

   465

            sync->control_register = EC_READ_U8(data + 4);

   466

            sync->enable = EC_READ_U8(data + 6);

   467

        }

   468

   469

        if (slave->sii.syncs)

   470

            kfree(slave->sii.syncs);

   471

        slave->sii.syncs = syncs;

   472

        slave->sii.sync_count = total_count;

   473

    }

   474

   475

    return 0;

   476

}

   477

   478

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

   479

   480

/**

   481

   Fetches data from a [RT]xPDO category.

   482

   \return 0 in case of success, else < 0

   483

*/