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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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 *  as published by the Free Software Foundation; either version 2 of the

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

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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

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 *

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

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 *  charge under condition of compatibility of product made by

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

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

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

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 *  EtherCAT specification (which are released themselves as an open

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

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   Canopen-over-EtherCAT functions.

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*/

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

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    41

#include <linux/module.h>

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    43

#include "canopen.h"

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#include "master.h"

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    46

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

    47

    48

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

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ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

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                                    char *);

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void ec_sdo_clear(struct kobject *);

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void ec_sdo_entry_clear(struct kobject *);

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    54

void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_t *,

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                              ec_sdo_entry_t *);

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void ec_sdo_request_clear(ec_sdo_request_t *);

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    58

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

    59

    60

/** \cond */

    61

    62

EC_SYSFS_READ_ATTR(info);

    63

EC_SYSFS_READ_ATTR(value);

    64

    65

static struct attribute *sdo_def_attrs[] = {

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    &attr_info,

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    NULL,

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};

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    70

static struct sysfs_ops sdo_sysfs_ops = {

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    .show = &ec_show_sdo_attribute,

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    .store = NULL

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};

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    75

static struct kobj_type ktype_ec_sdo = {

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    .release = ec_sdo_clear,

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    .sysfs_ops = &sdo_sysfs_ops,

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    .default_attrs = sdo_def_attrs

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};

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    81

static struct attribute *sdo_entry_def_attrs[] = {

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    &attr_info,

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    &attr_value,

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    NULL,

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};

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    87

static struct sysfs_ops sdo_entry_sysfs_ops = {

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    .show = &ec_show_sdo_entry_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_sdo_entry = {

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    .release = ec_sdo_entry_clear,

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    .sysfs_ops = &sdo_entry_sysfs_ops,

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    .default_attrs = sdo_entry_def_attrs

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};

    97

    98

/** \endcond */

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   100

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

   101

   102

/**

   103

   SDO constructor.

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*/

   105

   106

int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */

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                uint16_t index, /**< SDO index */

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                ec_slave_t *slave /**< parent slave */

   109

                )

   110

{

   111

    sdo->slave = slave;

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    sdo->index = index;

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    sdo->object_code = 0x00;

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    sdo->name = NULL;

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    sdo->subindices = 0;

   116

    INIT_LIST_HEAD(&sdo->entries);

   117

   118

    // init kobject and add it to the hierarchy

   119

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

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    kobject_init(&sdo->kobj);

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    sdo->kobj.ktype = &ktype_ec_sdo;

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    sdo->kobj.parent = &slave->sdo_kobj;

   123

    if (kobject_set_name(&sdo->kobj, "%4X", sdo->index)) {

   124

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

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        kobject_put(&sdo->kobj);

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        return -1;

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    }

   128

    if (kobject_add(&sdo->kobj)) {

   129

        EC_ERR("Failed to add SDO kobject.\n");

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        kobject_put(&sdo->kobj);

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        return -1;

   132

    }

   133

   134

    return 0;

   135

}

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   137

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

   138

   139

/**

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   SDO destructor.

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   Clears and frees an SDO object.

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*/

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   144

void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)

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{

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    ec_sdo_entry_t *entry, *next;

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    // free all entries

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    list_for_each_entry_safe(entry, next, &sdo->entries, list) {

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        list_del(&entry->list);

   151

        ec_sdo_entry_destroy(entry);

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    }

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   154

    // destroy self

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    kobject_del(&sdo->kobj);

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    kobject_put(&sdo->kobj);

   157

}

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   159

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

   160

   161

/**

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   Clear and free SDO.

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   This method is called by the kobject,

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   once there are no more references to it.

   165

*/

   166

   167

void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)

   168

{

   169

    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   170

   171

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

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    kfree(sdo);

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}

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   176

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

   177

   178

ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */

   179

                    char *buffer /**< target buffer */

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                    )

   181

{

   182

    off_t off = 0;

   183

   184

    off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);

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    off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");

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    off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);

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   188

    return off;

   189

}

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   191

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

   192

   193

ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */

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                              struct attribute *attr,

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                              char *buffer

   196

                              )

   197

{

   198

    ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);

   199

   200

    if (attr == &attr_info) {

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        return ec_sdo_info(sdo, buffer);

   202

    }

   203

   204

    return 0;

   205

}

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   207

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

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   209

/**

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   SDO entry constructor.

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*/

   212

   213

int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */

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                      uint8_t subindex, /**< SDO entry subindex */

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                      ec_sdo_t *sdo /**< parent SDO */

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                      )

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{

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    entry->sdo = sdo;

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    entry->subindex = subindex;

   220

    entry->data_type = 0x0000;

   221

    entry->bit_length = 0;

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    entry->description = NULL;

   223

   224

    // init kobject and add it to the hierarchy

   225

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

   226

    kobject_init(&entry->kobj);

   227

    entry->kobj.ktype = &ktype_ec_sdo_entry;

   228

    entry->kobj.parent = &sdo->kobj;

   229

    if (kobject_set_name(&entry->kobj, "%i", entry->subindex)) {

   230

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

   231

        kobject_put(&entry->kobj);

   232

        return -1;

   233

    }

   234

    if (kobject_add(&entry->kobj)) {

   235

        EC_ERR("Failed to add entry kobject.\n");

   236

        kobject_put(&entry->kobj);

   237

        return -1;

   238

    }

   239

   240

    return 0;

   241

}

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

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   245

/**

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   SDO entry destructor.

   247

   Clears and frees an SDO entry object.

   248

*/

   249

   250

void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)

   251

{

   252

    // destroy self

   253

    kobject_del(&entry->kobj);

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    kobject_put(&entry->kobj);

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}

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

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   259

/**

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   Clear and free SDO entry.

   261

   This method is called by the kobject,

   262

   once there are no more references to it.

   263

*/

   264

   265

void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)

   266

{

   267

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   268

   269

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

   270

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    kfree(entry);

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}

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

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   276

ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */

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                          char *buffer /**< target buffer */

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                          )

   279

{

   280

    off_t off = 0;

   281

   282

    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

   283

    off += sprintf(buffer + off, "Description: %s\n",

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                   entry->description ? entry->description : "");

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    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

   286

    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

   287

   288

    return off;

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}

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

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   293

ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */

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                                 ec_sdo_request_t *request, /**< SDO request */

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                                 char *buffer /**< target buffer */

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                                 )

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{

   298

    off_t off = 0;

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    unsigned int i;

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   301

    if (entry->data_type == 0x0002) { // int8

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        int8_t value;

   303

        if (entry->bit_length != 8)

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            goto not_fit;

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        value = EC_READ_S8(request->data);

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        off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);

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    }

   308

    else if (entry->data_type == 0x0003) { // int16

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        int16_t value;

   310

        if (entry->bit_length != 16)

   311

            goto not_fit;

   312

        value = EC_READ_S16(request->data);

   313

        off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);

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    }

   315

    else if (entry->data_type == 0x0004) { // int32

   316

        int32_t value;

   317

        if (entry->bit_length != 32)

   318

            goto not_fit;

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        value = EC_READ_S16(request->data);

   320

        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

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    }

   322

    else if (entry->data_type == 0x0005) { // uint8

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        uint8_t value;

   324

        if (entry->bit_length != 8)

   325

            goto not_fit;

   326

        value = EC_READ_U8(request->data);

   327

        off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);

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    }

   329

    else if (entry->data_type == 0x0006) { // uint16

   330

        uint16_t value;

   331

        if (entry->bit_length != 16)

   332

            goto not_fit;

   333

        value = EC_READ_U16(request->data); 

   334

        off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);

   335

    }

   336

    else if (entry->data_type == 0x0007) { // uint32

   337

        uint32_t value;

   338

        if (entry->bit_length != 32)

   339

            goto not_fit;

   340

        value = EC_READ_U32(request->data);

   341

        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

   342

    }

   343

    else if (entry->data_type == 0x0009) { // string

   344

        off += sprintf(buffer + off, "%s\n", request->data);

   345

    }

   346

    else {

   347

        off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",

   348

                entry->data_type);

   349

        goto raw_data;

   350

    }

   351

    return off;

   352

   353

not_fit:

   354

    off += sprintf(buffer + off,

   355

            "Invalid bit length %u for data type 0x%04X. Data:\n",

   356

            entry->bit_length, entry->data_type);

   357

raw_data:

   358

    for (i = 0; i < request->size; i++)

   359

        off += sprintf(buffer + off, "%02X (%c)\n",

   360

                request->data[i], request->data[i]);

   361

    return off;

   362

}

   363

   364

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

   365

   366

ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */

   367

                                char *buffer /**< target buffer */

   368

                                )

   369

{

   370

    ec_sdo_t *sdo = entry->sdo;

   371

    ec_master_t *master = sdo->slave->master;

   372

    off_t off = 0;

   373

    ec_sdo_request_t request;

   374

   375

    ec_sdo_request_init_read(&request, sdo, entry);

   376

   377

    // schedule request.

   378

    down(&master->sdo_sem);

   379

    list_add_tail(&request.list, &master->sdo_requests);

   380

    up(&master->sdo_sem);

   381

   382

    // wait for processing through FSM

   383

    if (wait_event_interruptible(master->sdo_queue,

   384

                request.state != EC_REQUEST_QUEUED)) {

   385

        // interrupted by signal

   386

        down(&master->sdo_sem);

   387

        if (request.state == EC_REQUEST_QUEUED) {

   388

            list_del(&request.list);

   389

            up(&master->sdo_sem);

   390

            return -EINTR;

   391

        }

   392

        // request already processing: interrupt not possible.

   393

        up(&master->sdo_sem);

   394

    }

   395

   396

    // wait until master FSM has finished processing

   397

    wait_event(master->sdo_queue, request.state != EC_REQUEST_IN_PROGRESS);

   398

   399

    if (request.state != EC_REQUEST_COMPLETE)

   400

        return -EIO;

   401

   402

    off += ec_sdo_entry_format_data(entry, &request, buffer);

   403

   404

    ec_sdo_request_clear(&request);

   405

    return off;

   406

}

   407

   408

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

   409

   410

ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */

   411

                                    struct attribute *attr,

   412

                                    char *buffer

   413

                                    )

   414

{

   415

    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

   416

   417

    if (attr == &attr_info) {

   418

        return ec_sdo_entry_info(entry, buffer);

   419

    }

   420

    else if (attr == &attr_value) {

   421

        return ec_sdo_entry_read_value(entry, buffer);

   422

    }

   423

   424

    return 0;

   425

}

   426

   427

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

   428

   429

/**

   430

   SDO request constructor.

   431

*/

   432

   433

void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */

   434

                              ec_sdo_t *sdo, /**< SDO */

   435

                              ec_sdo_entry_t *entry /**< SDO entry */

   436

                              )

   437

{

   438

    req->sdo = sdo;

   439

    req->entry = entry;

   440

    req->data = NULL;

   441

    req->size = 0;

   442

    req->state = EC_REQUEST_QUEUED;

   443

}

   444

   445

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

   446

   447

/**

   448

   SDO request destructor.

   449

*/

   450

   451

void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)

   452

{

   453

    if (req->data) kfree(req->data);

   454

}

   455

   456

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