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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 configuration methods.

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*/

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

    40

    41

#include <linux/slab.h>

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    43

#include "globals.h"

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#include "master.h"

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#include "slave_config.h"

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    48

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

    49

    50

/** Slave configuration constructor.

    51

 *

    52

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

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 * position parameters.

    54

 */

    55

void ec_slave_config_init(

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

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

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

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

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

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

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        )

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{

    64

    ec_direction_t dir;

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    sc->master = master;

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    sc->alias = alias;

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    sc->position = position;

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    sc->vendor_id = vendor_id;

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    sc->product_code = product_code;

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    sc->slave = NULL;

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    73

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

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        ec_pdo_list_init(&sc->pdos[dir]);

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    76

    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    79

    sc->used_fmmus = 0;

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}

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    82

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

    83

    84

/** Slave configuration destructor.

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 *

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 * Clears and frees a slave configuration object.

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 */

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void ec_slave_config_clear(

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

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        )

    91

{

    92

    ec_direction_t dir;

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    ec_sdo_request_t *req, *next_req;

    94

    95

    ec_slave_config_detach(sc);

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    97

    // Free Pdo mappings

    98

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

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        ec_pdo_list_clear(&sc->pdos[dir]);

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   101

    // free all Sdo configurations

   102

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

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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   108

    // free all Sdo requests

   109

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

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        list_del(&req->list);

   111

        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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}

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   116

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

   117

   118

/** Prepares an FMMU configuration.

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 *

   120

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

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

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

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

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

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 * returns with success.

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 *

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

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 * \retval -1  Error, FMMU limit reached.

   129

 */

   130

int ec_slave_config_prepare_fmmu(

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

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

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        ec_direction_t dir /**< Pdo direction. */

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        )

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{

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    unsigned int i;

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    ec_fmmu_config_t *fmmu;

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    // FMMU configuration already prepared?

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

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        fmmu = &sc->fmmu_configs[i];

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

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            return fmmu->logical_start_address;

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    }

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    if (sc->used_fmmus == EC_MAX_FMMUS) {

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        EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",

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                sc->alias, sc->position);

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        return -1;

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    }

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

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    ec_fmmu_config_init(fmmu, sc, domain, dir);

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    return fmmu->logical_start_address;

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}

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   157

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

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   159

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

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 *

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 * \retval 0 Success.

   162

 * \retval -1 Slave not found.

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 * \retval -2 Slave already configured.

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 * \retval -3 Invalid slave type found at the given position.

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 */

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int ec_slave_config_attach(

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

   168

        )

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{

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	ec_slave_t *slave;

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   172

	if (sc->slave)

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		return 0; // already attached

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   175

    if (!(slave = ec_master_find_slave(

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

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        return -1;

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    }

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	if (slave->config) {

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	}

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	// attach slave

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	slave->config = sc;

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	sc->slave = slave;

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    if (sc->master->debug_level)

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        EC_DBG("Attached slave %u to config %u:%u.\n",

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                slave->ring_position, sc->alias, sc->position);

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   210

	return 0;

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}

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

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   215

/** Detaches the configuration from a slave object.

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 */

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void ec_slave_config_detach(

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

   219

        )

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{

   221

    if (sc->slave) {

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        sc->slave->config = NULL;

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        sc->slave = NULL;

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    }

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}

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

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   229

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

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 */

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void ec_slave_config_load_default_assignment(ec_slave_config_t *sc)

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{

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    ec_direction_t dir;

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    ec_pdo_list_t *pdos;

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    ec_sync_t *sync;

   236

   237

    if (!sc->slave)

   238

        return;

   239

   240

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   241

        pdos = &sc->pdos[dir];

   242

        if ((sync = ec_slave_get_pdo_sync(sc->slave, dir)))

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            ec_pdo_list_copy(pdos, &sync->pdos);

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    }

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}

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

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   249

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

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 */

   251

void ec_slave_config_load_default_mapping(

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        const ec_slave_config_t *sc,

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        ec_pdo_t *pdo

   254

        )

   255

{

   256

    const ec_sync_t *sync;

   257

    const ec_pdo_t *default_pdo;

   258

   259

    if (sc->master->debug_level)

   260

        EC_DBG("Loading default configuration for Pdo 0x%04X in"

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                " config %u:%u.\n", pdo->index, sc->alias, sc->position);

   262

   263

    if (!sc->slave) {

   267

        return;

   268

    }

   269

   270

    if (!(sync = ec_slave_get_pdo_sync(sc->slave, pdo->dir))) {

   274

        return;

   275

    }

   276

   277

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

   278

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

   279

            continue;

   280

   281

        if (sc->master->debug_level)

   282

            EC_DBG("  Found Pdo name \"%s\".\n",

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                    default_pdo->name);

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   285

        // try to take Pdo name from mapped one

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        ec_pdo_set_name(pdo, default_pdo->name);

   287

   288

        // copy entries (= default Pdo configuration)

   289

        if (ec_pdo_copy_entries(pdo, default_pdo))

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            return;

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   292

        if (sc->master->debug_level) {

   293

            const ec_pdo_entry_t *entry;

   294

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

   295

                EC_DBG("    Entry 0x%04X:%02X.\n",

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                        entry->index, entry->subindex);

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            }

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        }

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    }

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}

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   302

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

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   304

unsigned int ec_slave_config_sdo_count(

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

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        )

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{

   308

	const ec_sdo_request_t *req;

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	unsigned int count = 0;

   310

   311

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

   312

		count++;

   313

	}

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   315

	return count;

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}

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   318

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

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   320

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

   321

 *

   322

 * Const version.

   323

 */

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const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

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

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

   327

        )

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{

   329

    const ec_sdo_request_t *req;

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   331

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

   332

        if (pos--)

   333

            continue;

   334

        return req;

   335

    }

   336

   337

    return NULL;

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}

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   340

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

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 *  Realtime interface

   342

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

   343

   344

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

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        ec_direction_t dir, uint16_t index)

   346

{

   347

    ec_pdo_list_t *pl = &sc->pdos[dir];

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    ec_pdo_t *pdo;

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   350

    if (sc->master->debug_level)

   351

        EC_DBG("Adding Pdo 0x%04X to assignment for dir %u, config %u:%u.\n",

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                index, dir, sc->alias, sc->position);

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   354

    if (!(pdo = ec_pdo_list_add_pdo(pl, dir, index)))

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        return -1;

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   357

    ec_slave_config_load_default_mapping(sc, pdo);

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    return 0;

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}

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   361

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

   362

   363

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

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        ec_direction_t dir)

   365

{

   366

    if (sc->master->debug_level)

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        EC_DBG("Clearing Pdo assignment for dir %u, config %u:%u.\n",

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                dir, sc->alias, sc->position);

   369

   370

    ec_pdo_list_clear_pdos(&sc->pdos[dir]);

   371

}

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   373

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

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   375

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

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        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

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        uint8_t entry_bit_length)

   378

{

   379

    ec_direction_t dir;

   380

    ec_pdo_t *pdo;

   381

   382

    if (sc->master->debug_level)

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        EC_DBG("Adding Pdo entry 0x%04X:%02X (%u bit) to mapping of Pdo"

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                " 0x%04X, config %u:%u.\n", entry_index, entry_subindex,

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                entry_bit_length, pdo_index, sc->alias, sc->position);

   386

   387

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

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        if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))

   389

            break;

   390

   391

    if (!pdo) {

   392

        EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",

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                pdo_index, sc->alias, sc->position);

   394

        return -1;

   395

    }

   396

   397

    return ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   398

            entry_bit_length) ? 0 : -1;

   399

}

   400

   401

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

   402

   403

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

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        uint16_t pdo_index)

   405

{

   406

    ec_direction_t dir;

   407

    ec_pdo_t *pdo;

   408

   409

    if (sc->master->debug_level)

   410

        EC_DBG("Clearing mapping of Pdo 0x%04X, config %u:%u.\n",

   411

                pdo_index, sc->alias, sc->position);

   412

   413

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)

   414

        if ((pdo = ec_pdo_list_find_pdo(&sc->pdos[dir], pdo_index)))

   415

            break;

   416

   417

    if (!pdo) {

   418

        EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",

   419

                pdo_index, sc->alias, sc->position);

   420

        return;

   421

    }

   422

   423

    ec_pdo_clear_entries(pdo);

   424

}

   425

   426

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

   427

   428

int ecrt_slave_config_pdos(ec_slave_config_t *sc, unsigned int n_infos,

   429

        const ec_pdo_info_t pdo_infos[])

   430

{

   431

    unsigned int i, j;

   432

    const ec_pdo_info_t *pi;

   433

    ec_pdo_list_t *pl;

   434

    unsigned int cleared[] = {0, 0};

   435

    const ec_pdo_entry_info_t *ei;

   436

   437

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

   438

        pi = &pdo_infos[i];

   439

   440

        if (pi->dir == EC_END)

   441

            break;

   442

   443

        pl = &sc->pdos[pi->dir];

   444

   445

        if (!cleared[pi->dir]) {

   446

            ecrt_slave_config_pdo_assign_clear(sc, pi->dir);

   447

            cleared[pi->dir] = 1;

   448

        }

   449

   450

        if (ecrt_slave_config_pdo_assign_add(sc, pi->dir, pi->index))

   451

            return -1;

   452

   453

        if (pi->n_entries && pi->entries) { // mapping provided

   454

            if (sc->master->debug_level)

   455

                EC_DBG("  Pdo mapping information provided.\n");

   456

   457

            ecrt_slave_config_pdo_mapping_clear(sc, pi->index);

   458

   459

            for (j = 0; j < pi->n_entries; j++) {

   460

                ei = &pi->entries[j];

   461

   462

                if (ecrt_slave_config_pdo_mapping_add(sc, pi->index,

   463

                        ei->index, ei->subindex, ei->bit_length))

   464

                    return -1;

   465

            }

   466

        }

   467

    }

   468

   469

    return 0;

   470

}

   471

   472

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

   473

   474

int ecrt_slave_config_reg_pdo_entry(

   475

        ec_slave_config_t *sc,

   476

        uint16_t index,

   477

        uint8_t subindex,

   478

        ec_domain_t *domain,

   479

        unsigned int *bit_position

   480

        )

   481

{

   482

    ec_direction_t dir;

   483

    ec_pdo_list_t *pdos;

   484

    unsigned int bit_offset, bit_pos;

   485

    ec_pdo_t *pdo;

   486

    ec_pdo_entry_t *entry;

   487

    int sync_offset;

   488

   489

    if (sc->master->debug_level)

   490

        EC_DBG("ecrt_slave_config_reg_pdo_entry(sc = 0x%x, index = 0x%04X, "

   491

                "subindex = 0x%02X, domain = 0x%x, bit_position = 0x%x)\n",

   492

                (unsigned int) sc, index, subindex, (unsigned int) domain,

   493

                (unsigned int) bit_position);

   494

   495

    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   496

        pdos = &sc->pdos[dir];

   497

        bit_offset = 0;

   498

        list_for_each_entry(pdo, &pdos->list, list) {

   499

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

   500

                if (entry->index != index || entry->subindex != subindex) {

   501

                    bit_offset += entry->bit_length;