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

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

    26

 *  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

    28

 *  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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 *

    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 "datagram.h"

    46

#include "master.h"

    47

#include "slave_config.h"

    48

    49

#include "slave.h"

    50

    51

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

    52

    53

extern const ec_code_msg_t al_status_messages[];

    54

    55

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

    56

    57

void ec_slave_clear(struct kobject *);

    58

void ec_slave_sdos_clear(struct kobject *);

    59

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

    60

ssize_t ec_store_slave_attribute(struct kobject *, struct attribute *,

    61

                                 const char *, size_t);

    62

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    63

    64

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

    65

    66

/** \cond */

    67

    68

EC_SYSFS_READ_ATTR(info);

    69

EC_SYSFS_READ_WRITE_ATTR(state);

    70

EC_SYSFS_READ_WRITE_ATTR(sii);

    71

EC_SYSFS_READ_WRITE_ATTR(alias);

    72

    73

static struct attribute *def_attrs[] = {

    74

    &attr_info,

    75

    &attr_state,

    76

    &attr_sii,

    77

    &attr_alias,

    78

    NULL,

    79

};

    80

    81

static struct sysfs_ops sysfs_ops = {

    82

    .show = ec_show_slave_attribute,

    83

    .store = ec_store_slave_attribute

    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

static struct kobj_type ktype_ec_slave_sdos = {

    93

    .release = ec_slave_sdos_clear

    94

};

    95

    96

/** \endcond */

    97

    98

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

    99

   100

/**

   101

   Slave constructor.

   102

   \return 0 in case of success, else < 0

   103

*/

   104

   105

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

   106

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

   107

                  uint16_t ring_position, /**< ring position */

   108

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

   109

                  )

   110

{

   111

    unsigned int i;

   112

   113

    slave->ring_position = ring_position;

   114

    slave->station_address = station_address;

   115

   116

    slave->master = master;

   117

   118

    slave->config = NULL;

   119

    slave->requested_state = EC_SLAVE_STATE_PREOP;

   120

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   121

    slave->online_state = EC_SLAVE_ONLINE;

   122

    slave->self_configured = 0;

   123

    slave->error_flag = 0;

   124

   125

    slave->base_type = 0;

   126

    slave->base_revision = 0;

   127

    slave->base_build = 0;

   128

    slave->base_fmmu_count = 0;

   129

   130

    slave->sii_data = NULL;

   131

    slave->sii_size = 0;

   132

   133

    slave->sii.alias = 0;

   134

    slave->sii.vendor_id = 0;

   135

    slave->sii.product_code = 0;

   136

    slave->sii.revision_number = 0;

   137

    slave->sii.serial_number = 0;

   138

    slave->sii.rx_mailbox_offset = 0;

   139

    slave->sii.rx_mailbox_size = 0;

   140

    slave->sii.tx_mailbox_offset = 0;

   141

    slave->sii.tx_mailbox_size = 0;

   142

    slave->sii.mailbox_protocols = 0;

   143

   144

    slave->sii.strings = NULL;

   145

    slave->sii.string_count = 0;

   146

   147

    slave->sii.has_general = 0;

   148

    slave->sii.group = NULL;

   149

    slave->sii.image = NULL;

   150

    slave->sii.order = NULL;

   151

    slave->sii.name = NULL;

   152

    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));

   153

    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));

   154

    slave->sii.current_on_ebus = 0;

   155

   156

    slave->sii.syncs = NULL;

   157

    slave->sii.sync_count = 0;

   158

   159

    INIT_LIST_HEAD(&slave->sii.pdos);

   160

   161

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   162

   163

    slave->sdo_dictionary_fetched = 0;

   164

    slave->jiffies_preop = 0;

   165

   166

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

   167

        slave->dl_link[i] = 0;

   168

        slave->dl_loop[i] = 0;

   169

        slave->dl_signal[i] = 0;

   170

        slave->sii.physical_layer[i] = 0xFF;

   171

    }

   172

   173

    // init kobject and add it to the hierarchy

   174

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

   175

    kobject_init(&slave->kobj);

   176

    slave->kobj.ktype = &ktype_ec_slave;

   177

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

   178

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

   179

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

   180

        goto out_slave_put;

   181

    }

   182

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

   183

        EC_ERR("Failed to add slave's kobject.\n");

   184

        goto out_slave_put;

   185

    }

   186

   187

    // init Sdo kobject and add it to the hierarchy

   188

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

   189

    kobject_init(&slave->sdo_kobj);

   190

    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

   191

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

   192

    if (kobject_set_name(&slave->sdo_kobj, "sdos")) {

   193

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

   194

        goto out_sdo_put;

   195

    }

   196

    if (kobject_add(&slave->sdo_kobj)) {

   197

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

   198

        goto out_sdo_put;

   199

    }

   200

   201

    return 0;

   202

   203

 out_sdo_put:

   204

    kobject_put(&slave->sdo_kobj);

   205

    kobject_del(&slave->kobj);

   206

 out_slave_put:

   207

    kobject_put(&slave->kobj);

   208

    return -1;

   209

}

   210

   211

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

   212

   213

/**

   214

   Slave destructor.

   215

   Clears and frees a slave object.

   216

*/

   217

   218

void ec_slave_destroy(ec_slave_t *slave /**< EtherCAT slave */)

   219

{

   220

    ec_sdo_t *sdo, *next_sdo;

   221

   222

    if (slave->config)

   223

        ec_slave_config_detach(slave->config);

   224

   225

    // free all Sdos

   226

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

   227

        list_del(&sdo->list);

   228

        ec_sdo_destroy(sdo);

   229

    }

   230

   231

    // free Sdo kobject

   232

    kobject_del(&slave->sdo_kobj);

   233

    kobject_put(&slave->sdo_kobj);

   234

   235

    // destroy self

   236

    kobject_del(&slave->kobj);

   237

    kobject_put(&slave->kobj);

   238

}

   239

   240

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

   241

   242

/**

   243

   Clear and free slave.

   244

   This method is called by the kobject,

   245

   once there are no more references to it.

   246

*/

   247

   248

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

   249

{

   250

    ec_slave_t *slave;

   251

    ec_pdo_t *pdo, *next_pdo;

   252

    unsigned int i;

   253

   254

    slave = container_of(kobj, ec_slave_t, kobj);

   255

   256

    // free all strings

   257

    if (slave->sii.strings) {

   258

        for (i = 0; i < slave->sii.string_count; i++)

   259

            kfree(slave->sii.strings[i]);

   260

        kfree(slave->sii.strings);

   261

    }

   262

   263

    // free all sync managers

   264

    ec_slave_clear_sync_managers(slave);

   265

   266

    // free all SII Pdos

   267

    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {

   268

        list_del(&pdo->list);

   269

        ec_pdo_clear(pdo);

   270

        kfree(pdo);

   271

    }

   272

   273

    if (slave->sii_data)

   274

        kfree(slave->sii_data);

   275

   276

    kfree(slave);

   277

}

   278

   279

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

   280

   281

/**

   282

 * Sdo kobject clear method.

   283

 */

   284

   285

void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for Sdos */)

   286

{

   287

}

   288

   289

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

   290

   291

/** Clear the sync manager array. 

   292

 */

   293

void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)

   294

{

   295

    unsigned int i;

   296

   297

    if (slave->sii.syncs) {

   298

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

   299

            ec_sync_clear(&slave->sii.syncs[i]);

   300

        }

   301

        kfree(slave->sii.syncs);

   302

        slave->sii.syncs = NULL;

   303

    }

   304

}

   305

   306

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

   307

   308

/**

   309

 * Sets the application state of a slave.

   310

 */

   311

   312

void ec_slave_set_state(ec_slave_t *slave, /**< EtherCAT slave */

   313

        ec_slave_state_t new_state /**< new application state */

   314

        )

   315

{

   316

    if (new_state != slave->current_state) {

   317

        if (slave->master->debug_level) {

   318

            char old_state[EC_STATE_STRING_SIZE],

   319

                cur_state[EC_STATE_STRING_SIZE];

   320

            ec_state_string(slave->current_state, old_state);

   321

            ec_state_string(new_state, cur_state);

   322

            EC_DBG("Slave %u: %s -> %s.\n",

   323

                   slave->ring_position, old_state, cur_state);

   324

        }

   325

        slave->current_state = new_state;

   326

    }

   327

}

   328

   329

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

   330

   331

/**

   332

 * Sets the online state of a slave.

   333

 */

   334

   335

void ec_slave_set_online_state(ec_slave_t *slave, /**< EtherCAT slave */

   336

        ec_slave_online_state_t new_state /**< new online state */

   337

        )

   338

{

   339

    if (new_state == EC_SLAVE_OFFLINE &&

   340

            slave->online_state == EC_SLAVE_ONLINE) {

   341

        if (slave->master->debug_level)

   342

            EC_DBG("Slave %u: offline.\n", slave->ring_position);

   343

    }

   344

    else if (new_state == EC_SLAVE_ONLINE &&

   345

            slave->online_state == EC_SLAVE_OFFLINE) {

   346

        slave->error_flag = 0; // clear error flag

   347

        if (slave->master->debug_level) {

   348

            char cur_state[EC_STATE_STRING_SIZE];

   349

            ec_state_string(slave->current_state, cur_state);

   350

            EC_DBG("Slave %u: online (%s).\n",

   351

                   slave->ring_position, cur_state);

   352

        }

   353

    }

   354

   355

    slave->online_state = new_state;

   356

}

   357

   358

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

   359

   360

/**

   361

 * Request a slave state and resets the error flag.

   362

 */

   363

   364

void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */

   365

                            ec_slave_state_t state /**< new state */

   366

                            )

   367

{

   368

    slave->requested_state = state;

   369

    slave->error_flag = 0;

   370

}

   371

   372

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

   373

   374

/**

   375

   Fetches data from a STRING category.

   376

   \todo range checking

   377

   \return 0 in case of success, else < 0

   378

*/

   379

   380

int ec_slave_fetch_sii_strings(

   381

        ec_slave_t *slave, /**< EtherCAT slave */

   382

        const uint8_t *data, /**< category data */

   383

        size_t data_size /**< number of bytes */

   384

        )

   385

{

   386

    int i;

   387

    size_t size;

   388

    off_t offset;

   389

   390

    slave->sii.string_count = data[0];

   391

   392

    if (!slave->sii.string_count)

   393

        return 0;

   394

   395

    if (!(slave->sii.strings =

   396

                kmalloc(sizeof(char *) * slave->sii.string_count,

   397

                    GFP_KERNEL))) {

   398

        EC_ERR("Failed to allocate string array memory.\n");

   399

        goto out_zero;

   400

    }

   401

   402

    offset = 1;

   403

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

   404

        size = data[offset];

   405

        // allocate memory for string structure and data at a single blow

   406

        if (!(slave->sii.strings[i] =

   407

                    kmalloc(sizeof(char) * size + 1, GFP_KERNEL))) {

   408

            EC_ERR("Failed to allocate string memory.\n");

   409

            goto out_free;

   410

        }

   411

        memcpy(slave->sii.strings[i], data + offset + 1, size);

   412

        slave->sii.strings[i][size] = 0x00; // append binary zero

   413

        offset += 1 + size;

   414

    }

   415

   416

    return 0;

   417

   418

out_free:

   419

    for (i--; i >= 0; i--) kfree(slave->sii.strings[i]);

   420

    kfree(slave->sii.strings);

   421

    slave->sii.strings = NULL;

   422

out_zero:

   423

    slave->sii.string_count = 0;

   424

    return -1;

   425

}

   426

   427

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

   428

   429

/**

   430

   Fetches data from a GENERAL category.

   431

   \return 0 in case of success, else < 0

   432

*/

   433

   434

int ec_slave_fetch_sii_general(

   435

        ec_slave_t *slave, /**< EtherCAT slave */

   436

        const uint8_t *data, /**< category data */

   437

        size_t data_size /**< size in bytes */

   438

        )

   439

{

   440

    unsigned int i;

   441

   442

    if (data_size != 32) {

   443

        EC_ERR("Wrong size of general category (%u/32) in slave %u.\n",

   444

                data_size, slave->ring_position);

   445

        return -1;

   446

    }

   447

   448

    slave->sii.group = ec_slave_sii_string(slave, data[0]);

   449

    slave->sii.image = ec_slave_sii_string(slave, data[1]);

   450

    slave->sii.order = ec_slave_sii_string(slave, data[2]);

   451

    slave->sii.name = ec_slave_sii_string(slave, data[3]);

   452

   453

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

   454

        slave->sii.physical_layer[i] =

   455

            (data[4] & (0x03 << (i * 2))) >> (i * 2);

   456

   457

    memcpy(&slave->sii.coe_details, data + 5, 1);

   458

    memcpy(&slave->sii.general_flags, data + 0x000b, 1);

   459

    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);

   460

    slave->sii.has_general = 1;

   461

    return 0;

   462

}

   463

   464

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

   465

   466

/** Fetches data from a SYNC MANAGER category.

   467

 *

   468

 * Appends the sync managers described in the category to the existing ones.

   469

 *

   470

 * \return 0 in case of success, else < 0

   471

 */

   472

int ec_slave_fetch_sii_syncs(

   473

        ec_slave_t *slave, /**< EtherCAT slave. */

   474

        const uint8_t *data, /**< Category data. */

   475

        size_t data_size /**< Number of bytes. */

   476

        )

   477

{

   478

    unsigned int i, count, total_count;

   479

    ec_sync_t *sync;

   480

    size_t memsize;

   481

    ec_sync_t *syncs;

   482

    uint8_t index;

   483

   484

    // one sync manager struct is 4 words long

   485

    if (data_size % 8) {