1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    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

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    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

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    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 "command.h"

    47

#include "master.h"

    48

    49

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

    50

    55

int ec_slave_fetch_categories(ec_slave_t *);

    56

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

    57

    58

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

    59

    60

/** \cond */

    61

    62

EC_SYSFS_READ_ATTR(ring_position);

    63

EC_SYSFS_READ_ATTR(coupler_address);

    64

EC_SYSFS_READ_ATTR(vendor_name);

    65

EC_SYSFS_READ_ATTR(product_name);

    66

EC_SYSFS_READ_ATTR(product_desc);

    67

EC_SYSFS_READ_ATTR(sii_desc);

    68

EC_SYSFS_READ_ATTR(type);

    69

    70

static struct attribute *def_attrs[] = {

    71

    &attr_ring_position,

    72

    &attr_coupler_address,

    73

    &attr_vendor_name,

    74

    &attr_product_name,

    75

    &attr_product_desc,

    76

    &attr_sii_desc,

    77

    &attr_type,

    78

    NULL,

    79

};

    80

    81

static struct sysfs_ops sysfs_ops = {

    82

    .show = &ec_show_slave_attribute,

    83

    .store = NULL

    84

};

    85

    86

static struct kobj_type ktype_ec_slave = {

    87

    .release = ec_slave_clear,

    88

    .sysfs_ops = &sysfs_ops,

    89

    .default_attrs = def_attrs

    90

};

    91

    92

/** \endcond */

    93

    94

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

    95

    96

/**

    97

   Slave constructor.

    98

   \return 0 in case of success, else < 0

    99

*/

   100

   101

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

   102

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

   103

                  uint16_t ring_position, /**< ring position */

   104

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

   105

                  )

   106

{

   107

    unsigned int i;

   108

   109

    slave->ring_position = ring_position;

   110

    slave->station_address = station_address;

   111

   112

    // init kobject and add it to the hierarchy

   113

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

   114

    kobject_init(&slave->kobj);

   115

    slave->kobj.ktype = &ktype_ec_slave;

   116

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

   117

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

   118

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

   119

        kobject_put(&slave->kobj);

   120

        return -1;

   121

    }

   122

   123

    slave->master = master;

   124

    slave->coupler_index = 0;

   125

    slave->coupler_subindex = 0xFFFF;

   126

    slave->base_type = 0;

   127

    slave->base_revision = 0;

   128

    slave->base_build = 0;

   129

    slave->base_fmmu_count = 0;

   130

    slave->base_sync_count = 0;

   131

    slave->sii_alias = 0;

   132

    slave->sii_vendor_id = 0;

   133

    slave->sii_product_code = 0;

   134

    slave->sii_revision_number = 0;

   135

    slave->sii_serial_number = 0;

   136

    slave->sii_rx_mailbox_offset = 0;

   137

    slave->sii_rx_mailbox_size = 0;

   138

    slave->sii_tx_mailbox_offset = 0;

   139

    slave->sii_tx_mailbox_size = 0;

   140

    slave->sii_mailbox_protocols = 0;

   141

    slave->type = NULL;

   142

    slave->registered = 0;

   143

    slave->fmmu_count = 0;

   144

    slave->eeprom_name = NULL;

   145

    slave->eeprom_group = NULL;

   146

    slave->eeprom_desc = NULL;

   150

   151

    ec_command_init(&slave->mbox_command);

   152

   153

    INIT_LIST_HEAD(&slave->eeprom_strings);

   154

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   155

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   156

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   157

   158

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

   159

        slave->dl_link[i] = 0;

   160

        slave->dl_loop[i] = 0;

   161

        slave->dl_signal[i] = 0;

   162

        slave->sii_physical_layer[i] = 0xFF;

   163

    }

   164

   165

    return 0;

   166

}

   167

   168

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

   169

   170

/**

   171

   Slave destructor.

   172

*/

   173

   174

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

   175

{

   176

    ec_slave_t *slave;

   177

    ec_eeprom_string_t *string, *next_str;

   178

    ec_eeprom_sync_t *sync, *next_sync;

   179

    ec_eeprom_pdo_t *pdo, *next_pdo;

   180

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   181

    ec_sdo_t *sdo, *next_sdo;

   182

    ec_sdo_entry_t *en, *next_en;

   183

   184

    slave = container_of(kobj, ec_slave_t, kobj);

   185

   186

    // free all string objects

   187

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

   188

        list_del(&string->list);

   189

        kfree(string);

   190

    }

   191

   192

    // free all sync managers

   193

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

   194

        list_del(&sync->list);

   195

        kfree(sync);

   196

    }

   197

   198

    // free all PDOs

   199

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

   200

        list_del(&pdo->list);

   201

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

   202

   203

        // free all PDO entries

   204

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

   205

            list_del(&entry->list);

   206

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

   207

            kfree(entry);

   208

        }

   209

   210

        kfree(pdo);

   211

    }

   212

   213

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

   214

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

   215

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

   216

   217

    // free all SDOs

   218

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

   219

        list_del(&sdo->list);

   220

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

   221

   222

        // free all SDO entries

   223

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

   224

            list_del(&en->list);

   225

            kfree(en);

   226

        }

   227

        kfree(sdo);

   228

    }

   229

   230

    ec_command_clear(&slave->mbox_command);

   231

}

   232

   233

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

   234

   235

/**

   236

   Reads all necessary information from a slave.

   237

   \return 0 in case of success, else < 0

   238

*/

   239

   240

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

   241

{

   242

    ec_command_t *command;

   243

    unsigned int i;

   244

    uint16_t dl_status;

   245

   246

    command = &slave->master->simple_command;

   247

   248

    // read base data

   249

    if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;

   250

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

   251

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

   252

               slave->ring_position);

   253

        return -1;

   254

    }

   255

   256

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

   257

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

   258

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

   259

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

   260

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

   261

   262

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   263

        slave->base_fmmu_count = EC_MAX_FMMUS;

   264

   265

    // read data link status

   266

    if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;

   267

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

   268

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

   269

               slave->ring_position);

   270

        return -1;

   271

    }

   272

   273

    dl_status = EC_READ_U16(command->data);

   274

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

   275

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

   276

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

   277

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

   278

    }

   279

   280

    // read EEPROM data

   281

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

   282

        return -1;

   283

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

   284

        return -1;

   285

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

   286

        return -1;

   287

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

   288

        return -1;

   289

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

   290

        return -1;

   291

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

   292

        return -1;

   293

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

   294

        return -1;

   295

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

   296

        return -1;

   297

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

   298

        return -1;

   299

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

   300

        return -1;

   301

   302

    if (unlikely(ec_slave_fetch_categories(slave))) {

   303

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

   304

        return -1;

   305

    }

   306

   307

    return 0;

   308

}

   309

   310

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

   311

   312

/**

   313

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

   314

   \return 0 in case of success, else < 0

   315

*/

   316

   317

int ec_slave_sii_read16(ec_slave_t *slave,

   318

                        /**< EtherCAT slave */

   319

                        uint16_t offset,

   320

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

   321

                        uint16_t *target

   322

                        /**< target memory */

   323

                        )

   324

{

   325

    ec_command_t *command;

   326

    cycles_t start, end, timeout;

   327

   328

    command = &slave->master->simple_command;

   329

   330

    // initiate read operation

   331

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   332

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

   333

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

   334

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

   335

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

   336

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

   337

        return -1;

   338

    }

   339

   340

    start = get_cycles();

   341

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

   342

   343

    while (1)

   344

    {

   345

        udelay(10);

   346

   347

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   348

            return -1;

   349

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

   350

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

   351

                   slave->ring_position);

   352

            return -1;

   353

        }

   354

   355

        end = get_cycles();

   356

   357

        // check for "busy bit"

   358

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

   359

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

   360

            return 0;

   361

        }

   362

   363

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

   364

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

   365

            return -1;

   366

        }

   367

    }

   368

}

   369

   370

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

   371

   372

/**

   373

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

   374

   \return 0 in case of success, else < 0

   375

*/

   376

   377

int ec_slave_sii_read32(ec_slave_t *slave,

   378

                        /**< EtherCAT slave */

   379

                        uint16_t offset,

   380

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

   381

                        uint32_t *target

   382

                        /**< target memory */

   383

                        )

   384

{

   385

    ec_command_t *command;

   386

    cycles_t start, end, timeout;

   387

   388

    command = &slave->master->simple_command;

   389

   390

    // initiate read operation

   391

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   392

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

   393

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

   394

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

   395

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

   396

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

   397

        return -1;

   398

    }

   399

   400

    start = get_cycles();

   401

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

   402

   403

    while (1)

   404

    {

   405

        udelay(10);

   406

   407

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   408

            return -1;

   409

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

   410

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

   411

                   slave->ring_position);

   412

            return -1;

   413

        }

   414

   415

        end = get_cycles();

   416

   417

        // check "busy bit"

   418

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

   419

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

   420

            return 0;

   421

        }

   422

   423

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

   424

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

   425

            return -1;

   426

        }

   427

    }

   428

}

   429

   430

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

   431

   432

/**

   433

   Writes 16 bit of data to the slave information interface (SII).

   434

   \return 0 in case of success, else < 0

   435

*/

   436

   437

int ec_slave_sii_write16(ec_slave_t *slave,

   438

                         /**< EtherCAT slave */

   439

                         uint16_t offset,

   440

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

   441

                         uint16_t value

   442

                         /**< new value */

   443

                         )

   444

{

   445

    ec_command_t *command;

   446

    cycles_t start, end, timeout;

   447

   448

    command = &slave->master->simple_command;

   449

   450

    EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",

   451

            slave->ring_position, offset, value);

   452

   453

    // initiate write operation

   454

    if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;

   455

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

   456

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

   457

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

   458

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

   459

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

   460

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

   461

        return -1;

   462

    }

   463

   464

    start = get_cycles();

   465

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

   466

   467

    while (1)

   468

    {

   469

        udelay(10);

   470

   471

        if (ec_command_nprd(command, slave->station_address, 0x502, 2))

   472

            return -1;

   473

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

   474

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

   475

                   slave->ring_position);

   476

            return -1;

   477

        }

   478

   479

        end = get_cycles();

   480

   481

        // check "busy bit"

   482

        if (likely((EC_READ_U8(command->data + 1) & 0x82) == 0)) {

   483

            if (EC_READ_U8(command->data + 1) & 0x40) {

   484

                EC_ERR("SII-write failed!\n");