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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  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 and/or

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 *  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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 *

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 *  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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 *

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 *  ---

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 *

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 *  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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 *

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 *  vim: expandtab

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

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#include <linux/slab.h>

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#include "globals.h"

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#include "master.h"

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#include "voe_handler.h"

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#include "slave_config.h"

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

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    49

/** Slave configuration constructor.

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 *

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

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 * position parameters.

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 */

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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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{

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    unsigned int i;

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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->watchdog_divider = 0; // use default

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    sc->watchdog_intervals = 0; // use default

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    sc->slave = NULL;

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

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

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    sc->used_fmmus = 0;

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    sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;

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    sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;

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    sc->dc_assign_activate = 0x0000;

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    sc->dc_sync[0].cycle_time = 0x00000000;

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    sc->dc_sync[1].cycle_time = 0x00000000;

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    sc->dc_sync[0].shift_time = 0x00000000;

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    sc->dc_sync[1].shift_time = 0x00000000;

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    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    INIT_LIST_HEAD(&sc->voe_handlers);

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    INIT_LIST_HEAD(&sc->soe_configs);

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}

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

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/** 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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        )

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{

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    unsigned int i;

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    ec_sdo_request_t *req, *next_req;

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    ec_voe_handler_t *voe, *next_voe;

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    ec_soe_request_t *soe, *next_soe;

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   109

    ec_slave_config_detach(sc);

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    // Free sync managers

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

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

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    // free all SDO configurations

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    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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    // free all SDO requests

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    list_for_each_entry_safe(req, next_req, &sc->sdo_requests, 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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    // free all VoE handlers

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    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {

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        list_del(&voe->list);

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        ec_voe_handler_clear(voe);

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        kfree(voe);

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    }

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    // free all SoE configurations

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    list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {

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        list_del(&soe->list);

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        ec_soe_request_clear(soe);

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        kfree(soe);

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    }

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}

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

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/** Prepares an FMMU configuration.

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 *

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 * 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  <0 Error code.

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 */

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

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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->sync_index == sync_index)

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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 -EOVERFLOW;

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    }

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

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

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}

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

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

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 *

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 * \retval  0 Success.

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 * \retval <0 Error code.

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 */

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int ec_slave_config_attach(

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

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        )

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{

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    ec_slave_t *slave;

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    if (sc->slave)

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        return 0; // already attached

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    if (!(slave = ec_master_find_slave(

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

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        if (sc->master->debug_level)

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

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                    sc->alias, sc->position);

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        return -ENOENT;

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    }

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    if (slave->config) {

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        if (sc->master->debug_level)

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

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

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                    sc->position, slave->ring_position);

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        return -EEXIST;

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    }

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

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

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        if (sc->master->debug_level)

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            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);

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        return -EINVAL;

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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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   252

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

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   254

    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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    return 0;

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}

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

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/** 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. */

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        )

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{

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

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 */

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void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

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{

   281

    uint8_t sync_index;

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    ec_sync_config_t *sync_config;

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    const ec_sync_t *sync;

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   285

    if (!sc->slave)

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        return;

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   288

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

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        sync_config = &sc->sync_configs[sync_index];

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

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            sync_config->dir = ec_sync_default_direction(sync);

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            if (sync_config->dir == EC_DIR_INVALID)

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

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                        sync_index, sc->slave->ring_position);

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

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        }

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    }

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}

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

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

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 */

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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

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        )

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{

   309

    unsigned int i;

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    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

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    if (!sc->slave)

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        return;

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    if (sc->master->debug_level)

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

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

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

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

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

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

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

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                continue;

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            if (default_pdo->name) {

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                if (sc->master->debug_level)

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

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                // take PDO name from assigned one

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                ec_pdo_set_name(pdo, default_pdo->name);

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            }

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            // copy entries (= default PDO mapping)

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            if (ec_pdo_copy_entries(pdo, default_pdo))

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                return;

   339

   340

            if (sc->master->debug_level) {

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                const ec_pdo_entry_t *entry;

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

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                    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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   348

            return;

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        }

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    }

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   352

    if (sc->master->debug_level)

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

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}

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

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/** Get the number of SDO configurations.

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 *

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 * \return Number of SDO configurations.

   361

 */

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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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{

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    const ec_sdo_request_t *req;

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    unsigned int count = 0;

   368

   369

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

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        count++;

   371

    }

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   373

    return count;

   374

}

   375

   376

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

   377

   378

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

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 *

   380

 * Const version.

   381

 */

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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. */

   385

        )

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{

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    const ec_sdo_request_t *req;

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   389

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

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        if (pos--)

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            continue;

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        return req;

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    }

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   395

    return NULL;

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}

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

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   400

/** Finds a VoE handler via its position in the list.

   401

 */

   402

ec_sdo_request_t *ec_slave_config_find_sdo_request(

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

   404

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

   405

        )

   406

{

   407

    ec_sdo_request_t *req;

   408

   409

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

   410

        if (pos--)

   411

            continue;

   412

        return req;

   413

    }

   414

   415

    return NULL;

   416

}

   417

   418

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

   419

   420

/** Finds a VoE handler via its position in the list.

   421

 */

   422

ec_voe_handler_t *ec_slave_config_find_voe_handler(

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

   424

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

   425

        )

   426

{

   427

    ec_voe_handler_t *voe;

   428

   429

    list_for_each_entry(voe, &sc->voe_handlers, list) {

   430

        if (pos--)

   431

            continue;

   432

        return voe;

   433

    }

   434

   435

    return NULL;

   436

}

   437

   438

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

   439

 *  Application interface

   440

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

   441

   442

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   443

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   444

{

   445

    ec_sync_config_t *sync_config;

   446

   447

    if (sc->master->debug_level)

   448

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

   449

                "dir = %i, watchdog_mode = %i)\n",

   450

                 sc, sync_index, dir, watchdog_mode);

   451

   452

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   453

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

   454

        return -ENOENT;

   455

    }

   456

   457

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

   458

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

   459

        return -EINVAL;

   460

    }

   461

   462

    sync_config = &sc->sync_configs[sync_index];

   463

    sync_config->dir = dir;

   464

    sync_config->watchdog_mode = watchdog_mode;

   465

    return 0;

   466

}

   467

   468

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

   469

   470

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

   471

        uint16_t divider, uint16_t intervals)

   472

{

   473

    if (sc->master->debug_level)

   474

        EC_DBG("%s(sc = 0x%p, divider = %u, intervals = %u)\n",

   475

                __func__, sc, divider, intervals);

   476

   477

    sc->watchdog_divider = divider;

   478

    sc->watchdog_intervals = intervals;

   479

}

   480

   481

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

   482

   495

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,