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

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 *

     3

 *  $Id$

     4

 *

     5

 *  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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 *

    19

 *  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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    34

/**

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   \file

    36

   EtherCAT slave configuration methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/slab.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

/** Slave configuration constructor.

    51

 *

    52

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

    53

 * position parameters.

    54

 */

    55

void ec_slave_config_init(

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

    57

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

    58

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

    59

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

    60

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

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

    62

        )

    63

{

    64

    unsigned int i;

    65

    66

    sc->master = master;

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    sc->alias = alias;

    68

    sc->position = position;

    69

    sc->vendor_id = vendor_id;

    70

    sc->product_code = product_code;

    71

    sc->slave = NULL;

    72

    73

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

    74

        ec_sync_config_init(&sc->sync_configs[i]);

    75

    76

    INIT_LIST_HEAD(&sc->sdo_configs);

    77

    INIT_LIST_HEAD(&sc->sdo_requests);

    78

    79

    sc->used_fmmus = 0;

    80

}

    81

    82

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

    83

    84

/** Slave configuration destructor.

    85

 *

    86

 * Clears and frees a slave configuration object.

    87

 */

    88

void ec_slave_config_clear(

    89

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

    90

        )

    91

{

    92

    unsigned int i;

    93

    ec_sdo_request_t *req, *next_req;

    94

    95

    ec_slave_config_detach(sc);

    96

    97

    // Free sync managers

    98

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

    99

        ec_sync_config_clear(&sc->sync_configs[i]);

   100

   101

    // free all Sdo configurations

   102

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

   103

        list_del(&req->list);

   104

        ec_sdo_request_clear(req);

   105

        kfree(req);

   106

    }

   107

   108

    // free all Sdo requests

   109

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

   110

        list_del(&req->list);

   111

        ec_sdo_request_clear(req);

   112

        kfree(req);

   113

    }

   114

}

   115

   116

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

   117

   118

/** Prepares an FMMU configuration.

   119

 *

   120

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

   121

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

   122

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

   123

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

   124

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

   125

 * returns with success.

   126

 *

   127

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

   128

 * \retval -1  Error, FMMU limit reached.

   129

 */

   130

int ec_slave_config_prepare_fmmu(

   131

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

   132

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

   133

        uint8_t sync_index, /**< Sync manager index. */

   134

        ec_direction_t dir /**< Pdo direction. */

   135

        )

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{

   137

    unsigned int i;

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    ec_fmmu_config_t *fmmu;

   139

   140

    // 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];

   143

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

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            return fmmu->logical_start_address;

   145

    }

   146

   147

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   148

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

   149

                sc->alias, sc->position);

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        return -1;

   151

    }

   152

   153

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

   154

   155

    down(&sc->master->master_sem);

   156

    ec_fmmu_config_init(fmmu, sc, domain, sync_index, dir);

   157

    up(&sc->master->master_sem);

   158

   159

    return fmmu->logical_start_address;

   160

}

   161

   162

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

   163

   164

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

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 *

   166

 * \retval 0 Success.

   167

 * \retval -1 Slave not found.

   168

 * \retval -2 Slave already configured.

   169

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

   170

 */

   171

int ec_slave_config_attach(

   172

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

   173

        )

   174

{

   175

	ec_slave_t *slave;

   176

   177

	if (sc->slave)

   178

		return 0; // already attached

   179

   180

    if (!(slave = ec_master_find_slave(

   181

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

   182

        if (sc->master->debug_level)

   183

            EC_DBG("Failed to find slave for configuration %u:%u.\n",

   184

                    sc->alias, sc->position);

   185

        return -1;

   186

    }

   187

   188

	if (slave->config) {

   189

        if (sc->master->debug_level)

   190

            EC_DBG("Failed to attach slave configuration %u:%u. Slave %u"

   191

                    " already has a configuration!\n", sc->alias,

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                    sc->position, slave->ring_position);

   193

        return -2;

   194

    }

   195

   196

    if (slave->sii.vendor_id != sc->vendor_id

   197

            || slave->sii.product_code != sc->product_code) {

   198

        if (sc->master->debug_level)

   199

            EC_DBG("Slave %u has an invalid type (0x%08X/0x%08X) for"

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                    " configuration %u:%u (0x%08X/0x%08X).\n",

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                    slave->ring_position, slave->sii.vendor_id,

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                    slave->sii.product_code, sc->alias, sc->position,

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                    sc->vendor_id, sc->product_code);

   204

        return -3;

   205

	}

   206

   207

	// attach slave

   208

	slave->config = sc;

   209

	sc->slave = slave;

   210

   211

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   212

   213

    if (sc->master->debug_level)

   214

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

   215

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

   216

   217

	return 0;

   218

}

   219

   220

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

   221

   222

/** Detaches the configuration from a slave object.

   223

 */

   224

void ec_slave_config_detach(

   225

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

   226

        )

   227

{

   228

    if (sc->slave) {

   229

        sc->slave->config = NULL;

   230

        sc->slave = NULL;

   231

    }

   232

}

   233

   234

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

   235

   236

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

   237

 */

   238

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   239

{

   240

    uint8_t sync_index;

   241

    ec_sync_config_t *sync_config;

   242

    const ec_sync_t *sync;

   243

   244

    if (!sc->slave)

   245

        return;

   246

   247

    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {

   248

        sync_config = &sc->sync_configs[sync_index];

   249

        if ((sync = ec_slave_get_sync(sc->slave, sync_index))) {

   250

            sync_config->dir = ec_sync_default_direction(sync);

   251

            if (sync_config->dir == EC_DIR_INVALID)

   252

                EC_WARN("SM%u of slave %u has an invalid direction field!\n",

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                        sync_index, sc->slave->ring_position);

   254

            ec_pdo_list_copy(&sync_config->pdos, &sync->pdos);

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        }

   256

    }

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}

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   259

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

   260

   261

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

   262

 */

   263

void ec_slave_config_load_default_mapping(

   264

        const ec_slave_config_t *sc,

   265

        ec_pdo_t *pdo

   266

        )

   267

{

   268

    unsigned int i;

   269

    const ec_sync_t *sync;

   270

    const ec_pdo_t *default_pdo;

   271

   272

    if (!sc->slave)

   273

        return;

   274

   275

    if (sc->master->debug_level)

   276

        EC_DBG("Loading default mapping for Pdo 0x%04X in config %u:%u.\n",

   277

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

   278

   279

    // find Pdo in any sync manager (it could be reassigned later)

   280

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

   281

        sync = &sc->slave->sii.syncs[i];

   282

   283

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

   284

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

   285

                continue;

   286

   287

            if (default_pdo->name) {

   288

                if (sc->master->debug_level)

   289

                    EC_DBG("Found Pdo name \"%s\".\n", default_pdo->name);

   290

   291

                // take Pdo name from assigned one

   292

                ec_pdo_set_name(pdo, default_pdo->name);

   293

            }

   294

   295

            // copy entries (= default Pdo mapping)

   296

            if (ec_pdo_copy_entries(pdo, default_pdo))

   297

                return;

   298

   299

            if (sc->master->debug_level) {

   300

                const ec_pdo_entry_t *entry;

   301

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

   302

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

   303

                            entry->index, entry->subindex);

   304

                }

   305

            }

   306

   307

            return;

   308

        }

   309

    }

   310

   311

    if (sc->master->debug_level)

   312

        EC_DBG("No default mapping found.\n");

   313

}

   314

   315

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

   316

   317

/** Get the number of Sdo configurations.

   318

 *

   319

 * \return Number of Sdo configurations.

   320

 */

   321

unsigned int ec_slave_config_sdo_count(

   322

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

   323

        )

   324

{

   325

	const ec_sdo_request_t *req;

   326

	unsigned int count = 0;

   327

   328

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

   329

		count++;

   330

	}

   331

   332

	return count;

   333

}

   334

   335

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

   336

   337

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

   338

 *

   339

 * Const version.

   340

 */

   341

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   342

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

   343

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

   344

        )

   345

{

   346

    const ec_sdo_request_t *req;

   347

   348

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

   349

        if (pos--)

   350

            continue;

   351

        return req;

   352

    }

   353

   354

    return NULL;

   355

}

   356

   357

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

   358

 *  Realtime interface

   359

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

   360

   361

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   362

        ec_direction_t dir)

   363

{

   364

    ec_sync_config_t *sync_config;

   365

   366

    if (sc->master->debug_level)

   367

        EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%x, sync_index = %u, "

   368

                "dir = %u)\n", (u32) sc, sync_index, dir);

   369

   370

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   371

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   372

        return -1;

   373

    }

   374

   375

    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {

   376

        EC_ERR("Invalid direction %u!\n", (u32) dir);

   377

        return -1;

   378

    }

   379

   380

    sync_config = &sc->sync_configs[sync_index];

   381

    sync_config->dir = dir;

   382

    return 0;

   383

}

   384

   385

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

   386

   387

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   388

        uint8_t sync_index, uint16_t pdo_index)

   389

{

   390

    ec_pdo_t *pdo;

   391

   392

    if (sc->master->debug_level)

   393

        EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%x, sync_index = %u, "

   394

                "pdo_index = 0x%04X)\n", (u32) sc, sync_index, pdo_index);

   395

   396

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   397

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   398

        return -1;

   399

    }

   400

   401

    down(&sc->master->master_sem);

   402

   403

    if (!(pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos,

   404

                    pdo_index))) {

   405

        up(&sc->master->master_sem);

   406

        return -1;

   407

    }

   408

    pdo->sync_index = sync_index;

   409

   410

    ec_slave_config_load_default_mapping(sc, pdo);

   411

   412

    up(&sc->master->master_sem);

   413

    return 0;

   414

}

   415

   416

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

   417

   418

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   419

        uint8_t sync_index)

   420

{

   421

    if (sc->master->debug_level)

   422

        EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%x, "

   423

                "sync_index = %u)\n", (u32) sc, sync_index);

   424

   425

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   426

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   427

        return;

   428

    }

   429

   430

    down(&sc->master->master_sem);

   431

    ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);

   432

    up(&sc->master->master_sem);

   433

}

   434

   435

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

   436

   437

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   438

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   439

        uint8_t entry_bit_length)

   440

{

   441

    uint8_t sync_index;

   442

    ec_pdo_t *pdo = NULL;

   443

    int retval = -1;

   444

   445

    if (sc->master->debug_level)

   446

        EC_DBG("ecrt_slave_config_pdo_mapping_add(sc = 0x%x, "

   447

                "pdo_index = 0x%04X, entry_index = 0x%04X, "

   448

                "entry_subindex = 0x%02X, entry_bit_length = %u)\n",

   449

                (u32) sc, pdo_index, entry_index, entry_subindex,

   450

                entry_bit_length);

   451

   452

    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)

   453

        if ((pdo = ec_pdo_list_find_pdo(

   454

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   455

            break;

   456

   457

    if (pdo) {

   458

        down(&sc->master->master_sem);

   459

        retval = ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   460

                entry_bit_length) ? 0 : -1;

   461

        up(&sc->master->master_sem);

   462

    } else {

   463

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

   464

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

   465

    }

   466

   467

    return retval;

   468

}

   469

   470

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

   471

   472

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

   473

        uint16_t pdo_index)

   474

{

   475

    uint8_t sync_index;

   476

    ec_pdo_t *pdo = NULL;

   477

   478

    if (sc->master->debug_level)

   479

        EC_DBG("ecrt_slave_config_pdo_mapping_clear(sc = 0x%x, "

   480

                "pdo_index = 0x%04X)\n", (u32) sc, pdo_index);

   481

   482

    for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++)

   483

        if ((pdo = ec_pdo_list_find_pdo(

   484

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   485

            break;

   486

   487

    if (pdo) {

   488

        down(&sc->master->master_sem);

   489

        ec_pdo_clear_entries(pdo);

   490

        up(&sc->master->master_sem);

   491

    } else {

   492

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

   493

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

   494

    }

   495

}

   496

   497

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

   498

   499

int ecrt_slave_config_pdos(ec_slave_config_t *sc,