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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

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

    11

 *  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

    15

 *  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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 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  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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    34

/**

    35

   \file

    36

   EtherCAT slave methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/module.h>

    42

#include <linux/delay.h>

    43

    44

#include "globals.h"

    45

#include "slave.h"

    46

#include "datagram.h"

    47

#include "master.h"

    48

    49

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

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

int ec_slave_fetch_categories(ec_slave_t *);

    56

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

    57

ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

    58

                                 const char *, size_t);

    59

    60

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

    61

    62

/** \cond */

    63

    64

EC_SYSFS_READ_ATTR(ring_position);

    65

EC_SYSFS_READ_ATTR(coupler_address);

    66

EC_SYSFS_READ_ATTR(vendor_name);

    67

EC_SYSFS_READ_ATTR(product_name);

    68

EC_SYSFS_READ_ATTR(product_desc);

    69

EC_SYSFS_READ_ATTR(sii_name);

    70

EC_SYSFS_READ_ATTR(type);

    71

EC_SYSFS_READ_WRITE_ATTR(state);

    72

EC_SYSFS_READ_WRITE_ATTR(eeprom);

    73

    74

static struct attribute *def_attrs[] = {

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    &attr_ring_position,

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    &attr_coupler_address,

    77

    &attr_vendor_name,

    78

    &attr_product_name,

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    &attr_product_desc,

    80

    &attr_sii_name,

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    &attr_type,

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    &attr_state,

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    &attr_eeprom,

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    NULL,

    85

};

    86

    87

static struct sysfs_ops sysfs_ops = {

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    .show = ec_show_slave_attribute,

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    .store = ec_store_slave_attribute

    90

};

    91

    92

static struct kobj_type ktype_ec_slave = {

    93

    .release = ec_slave_clear,

    94

    .sysfs_ops = &sysfs_ops,

    95

    .default_attrs = def_attrs

    96

};

    97

    98

/** \endcond */

    99

   100

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

   101

   102

/**

   103

   Slave constructor.

   104

   \return 0 in case of success, else < 0

   105

*/

   106

   107

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

   108

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

   109

                  uint16_t ring_position, /**< ring position */

   110

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

   111

                  )

   112

{

   113

    unsigned int i;

   114

   115

    slave->ring_position = ring_position;

   116

    slave->station_address = station_address;

   117

   118

    // init kobject and add it to the hierarchy

   119

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

   120

    kobject_init(&slave->kobj);

   121

    slave->kobj.ktype = &ktype_ec_slave;

   122

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

   123

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

   124

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

   125

        kobject_put(&slave->kobj);

   126

        return -1;

   127

    }

   128

   129

    slave->master = master;

   130

    slave->coupler_index = 0;

   131

    slave->coupler_subindex = 0xFFFF;

   132

    slave->base_type = 0;

   133

    slave->base_revision = 0;

   134

    slave->base_build = 0;

   135

    slave->base_fmmu_count = 0;

   136

    slave->base_sync_count = 0;

   137

    slave->sii_alias = 0;

   138

    slave->sii_vendor_id = 0;

   139

    slave->sii_product_code = 0;

   140

    slave->sii_revision_number = 0;

   141

    slave->sii_serial_number = 0;

   142

    slave->sii_rx_mailbox_offset = 0;

   143

    slave->sii_rx_mailbox_size = 0;

   144

    slave->sii_tx_mailbox_offset = 0;

   145

    slave->sii_tx_mailbox_size = 0;

   146

    slave->sii_mailbox_protocols = 0;

   147

    slave->type = NULL;

   148

    slave->registered = 0;

   149

    slave->fmmu_count = 0;

   150

    slave->eeprom_data = NULL;

   151

    slave->eeprom_size = 0;

   152

    slave->eeprom_group = NULL;

   153

    slave->eeprom_image = NULL;

   154

    slave->eeprom_order = NULL;

   155

    slave->eeprom_name = NULL;

   156

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

   157

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   158

    slave->error_flag = 0;

   159

    slave->online = 1;

   160

    slave->new_eeprom_data = NULL;

   161

    slave->new_eeprom_size = 0;

   162

   163

    INIT_LIST_HEAD(&slave->eeprom_strings);

   164

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   165

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   166

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   167

    INIT_LIST_HEAD(&slave->varsize_fields);

   168

   169

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

   170

        slave->dl_link[i] = 0;

   171

        slave->dl_loop[i] = 0;

   172

        slave->dl_signal[i] = 0;

   173

        slave->sii_physical_layer[i] = 0xFF;

   174

    }

   175

   176

    return 0;

   177

}

   178

   179

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

   180

   181

/**

   182

   Slave destructor.

   183

*/

   184

   185

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

   186

{

   187

    ec_slave_t *slave;

   188

    ec_eeprom_string_t *string, *next_str;

   189

    ec_eeprom_sync_t *sync, *next_sync;

   190

    ec_eeprom_pdo_t *pdo, *next_pdo;

   191

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   192

    ec_sdo_t *sdo, *next_sdo;

   193

    ec_sdo_entry_t *en, *next_en;

   194

    ec_varsize_t *var, *next_var;

   195

   196

    slave = container_of(kobj, ec_slave_t, kobj);

   197

   198

    // free all string objects

   199

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

   200

        list_del(&string->list);

   201

        kfree(string);

   202

    }

   203

   204

    // free all sync managers

   205

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

   206

        list_del(&sync->list);

   207

        kfree(sync);

   208

    }

   209

   210

    // free all PDOs

   211

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

   212

        list_del(&pdo->list);

   213

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

   214

   215

        // free all PDO entries

   216

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

   217

            list_del(&entry->list);

   218

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

   219

            kfree(entry);

   220

        }

   221

   222

        kfree(pdo);

   223

    }

   224

   225

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

   226

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

   227

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

   228

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

   229

   230

    // free all SDOs

   231

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

   232

        list_del(&sdo->list);

   233

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

   234

   235

        // free all SDO entries

   236

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

   237

            list_del(&en->list);

   238

            kfree(en);

   239

        }

   240

        kfree(sdo);

   241

    }

   242

   243

    // free information about variable sized data fields

   244

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

   245

        list_del(&var->list);

   246

        kfree(var);

   247

    }

   248

   249

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

   250

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

   251

}

   252

   253

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

   254

   255

/**

   256

   Reads all necessary information from a slave.

   257

   \return 0 in case of success, else < 0

   258

*/

   259

   260

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

   261

{

   262

    ec_datagram_t *datagram;

   263

    unsigned int i;

   264

    uint16_t dl_status;

   265

   266

    datagram = &slave->master->simple_datagram;

   267

   268

    // read base data

   269

    if (ec_datagram_nprd(datagram, slave->station_address, 0x0000, 6))

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        return -1;

   271

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

   272

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

   273

               slave->ring_position);

   274

        return -1;

   275

    }

   276

   277

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

   278

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

   279

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

   280

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

   281

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

   282

   283

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   284

        slave->base_fmmu_count = EC_MAX_FMMUS;

   285

   286

    // read data link status

   287

    if (ec_datagram_nprd(datagram, slave->station_address, 0x0110, 2))

   288

        return -1;

   289

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

   290

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

   291

               slave->ring_position);

   292

        return -1;

   293

    }

   294

   295

    dl_status = EC_READ_U16(datagram->data);

   296

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

   297

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

   298

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

   299

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

   300

    }

   301

   302

    // read EEPROM data

   303

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

   304

        return -1;

   305

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

   306

        return -1;

   307

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

   308

        return -1;

   309

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

   310

        return -1;

   311

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

   312

        return -1;

   313

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

   314

        return -1;

   315

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

   316

        return -1;

   317

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

   318

        return -1;

   319

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

   320

        return -1;

   321

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

   322

        return -1;

   323

   324

    if (unlikely(ec_slave_fetch_categories(slave))) {

   325

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

   326

        return -1;

   327

    }

   328

   329

    return 0;

   330

}

   331

   332

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

   333

   334

/**

   335

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

   336

   \return 0 in case of success, else < 0

   337

*/

   338

   339

int ec_slave_sii_read16(ec_slave_t *slave,

   340

                        /**< EtherCAT slave */

   341

                        uint16_t offset,

   342

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

   343

                        uint16_t *target

   344

                        /**< target memory */

   345

                        )

   346

{

   347

    ec_datagram_t *datagram;

   348

    cycles_t start, end, timeout;

   349

   350

    datagram = &slave->master->simple_datagram;

   351

   352

    // initiate read operation

   353

    if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 6))

   354

        return -1;

   355

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

   356

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

   357

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

   358

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

   359

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

   360

        return -1;

   361

    }

   362

   363

    start = get_cycles();

   364

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

   365

   366

    while (1)

   367

    {

   368

        udelay(10);

   369

   370

        if (ec_datagram_nprd(datagram, slave->station_address, 0x502, 10))

   371

            return -1;

   372

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

   373

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

   374

                   slave->ring_position);

   375

            return -1;

   376

        }

   377

   378

        end = get_cycles();

   379

   380

        // check for "busy bit"

   381

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

   382

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

   383

            return 0;

   384

        }

   385

   386

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

   387

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

   388

            return -1;

   389

        }

   390

    }

   391

}

   392

   393

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

   394

   395

/**

   396

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

   397

   \return 0 in case of success, else < 0

   398

*/

   399

   400

int ec_slave_sii_read32(ec_slave_t *slave,

   401

                        /**< EtherCAT slave */

   402

                        uint16_t offset,

   403

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

   404

                        uint32_t *target

   405

                        /**< target memory */

   406

                        )

   407

{

   408

    ec_datagram_t *datagram;

   409

    cycles_t start, end, timeout;

   410

   411

    datagram = &slave->master->simple_datagram;

   412

   413

    // initiate read operation

   414

    if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 6))

   415

        return -1;

   416

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

   417

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

   418

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

   419

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

   420

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

   421

        return -1;

   422

    }

   423

   424

    start = get_cycles();

   425

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

   426

   427

    while (1)

   428

    {

   429

        udelay(10);

   430

   431

        if (ec_datagram_nprd(datagram, slave->station_address, 0x502, 10))

   432

            return -1;

   433

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

   434

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

   435

                   slave->ring_position);

   436

            return -1;

   437

        }

   438

   439

        end = get_cycles();

   440

   441

        // check "busy bit"

   442

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

   443

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

   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

{

   469

    ec_datagram_t *datagram;

   470

    cycles_t start, end, timeout;

   471

   472

    datagram = &slave->master->simple_datagram;

   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

   478

    if (ec_datagram_npwr(datagram, slave->station_address, 0x502, 8))

   479

        return -1;

   480

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

   481

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

   482

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

   483

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

   484

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