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

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 *

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 *  $Id$

     4

 *

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 *  Copyright (C) 2006-2012  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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    32

/**

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   \file

    34

   EtherCAT slave configuration methods.

    35

*/

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

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#include <linux/module.h>

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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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    46

#include "slave_config.h"

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    48

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

    49

    50

/** Slave configuration constructor.

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 *

    52

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

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 * position parameters.

    54

 */

    55

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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{

    64

    unsigned int i;

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    sc->master = master;

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    68

    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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    77

    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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    80

    sc->used_fmmus = 0;

    81

    sc->dc_assign_activate = 0x0000;

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

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

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

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

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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->reg_requests);

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    INIT_LIST_HEAD(&sc->voe_handlers);

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    INIT_LIST_HEAD(&sc->soe_configs);

    92

    93

    ec_coe_emerg_ring_init(&sc->emerg_ring, sc);

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}

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    96

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

    97

    98

/** Slave configuration destructor.

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 *

   100

 * Clears and frees a slave configuration object.

   101

 */

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void ec_slave_config_clear(

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

   104

        )

   105

{

   106

    unsigned int i;

   107

    ec_sdo_request_t *req, *next_req;

   108

    ec_voe_handler_t *voe, *next_voe;

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    ec_reg_request_t *reg, *next_reg;

   110

    ec_soe_request_t *soe, *next_soe;

   111

   112

    ec_slave_config_detach(sc);

   113

   114

    // Free sync managers

   115

    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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   118

    // 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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   132

    // free all register requests

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    list_for_each_entry_safe(reg, next_reg, &sc->reg_requests, list) {

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        list_del(&reg->list);

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        ec_reg_request_clear(reg);

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        kfree(reg);

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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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   153

    ec_coe_emerg_ring_clear(&sc->emerg_ring);

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}

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   156

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

   157

   158

/** 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;

   179

   180

    // FMMU configuration already prepared?

   181

    for (i = 0; i < sc->used_fmmus; i++) {

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        fmmu = &sc->fmmu_configs[i];

   183

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

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            return fmmu->logical_start_address;

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    }

   186

   187

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   188

        EC_CONFIG_ERR(sc, "FMMU limit reached!\n");

   189

        return -EOVERFLOW;

   190

    }

   191

   192

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

   193

   194

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

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

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

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    return fmmu->logical_start_address;

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}

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   201

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

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   203

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

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 *

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 * \retval  0 Success.

   206

 * \retval <0 Error code.

   207

 */

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int ec_slave_config_attach(

   209

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

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        )

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{

   212

    ec_slave_t *slave;

   213

   214

    if (sc->slave)

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        return 0; // already attached

   216

   217

    if (!(slave = ec_master_find_slave(

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

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        EC_CONFIG_DBG(sc, 1, "Failed to find slave for configuration.\n");

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        return -ENOENT;

   221

    }

   222

   223

    if (slave->config) {

   224

        EC_CONFIG_DBG(sc, 1, "Failed to attach configuration. Slave %u"

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                " already has a configuration!\n", slave->ring_position);

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        return -EEXIST;

   227

    }

   228

   229

    if (

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#ifdef EC_IDENT_WILDCARDS

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            sc->vendor_id != 0xffffffff &&

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#endif

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

   234

       ) {

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        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching vendor ID (0x%08X)"

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                " for configuration (0x%08X).\n",

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                slave->ring_position, slave->sii.vendor_id, sc->vendor_id);

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        return -EINVAL;

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    }

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    if (

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#ifdef EC_IDENT_WILDCARDS

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            sc->product_code != 0xffffffff &&

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#endif

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            slave->sii.product_code != sc->product_code

   246

       ) {

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        EC_CONFIG_DBG(sc, 1, "Slave %u has no matching product code (0x%08X)"

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                " for configuration (0x%08X).\n",

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                slave->ring_position, slave->sii.product_code,

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                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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   258

    EC_CONFIG_DBG(sc, 1, "Attached slave %u.\n", slave->ring_position);

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    return 0;

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}

   261

   262

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

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   264

/** Detaches the configuration from a slave object.

   265

 */

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void ec_slave_config_detach(

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

   268

        )

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{

   270

    if (sc->slave) {

   271

        ec_reg_request_t *reg;

   272

   273

        sc->slave->config = NULL;

   274

   275

        // invalidate processing register request

   276

        list_for_each_entry(reg, &sc->reg_requests, list) {

   277

            if (sc->slave->fsm.reg_request == reg) {

   278

                sc->slave->fsm.reg_request = NULL;

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                break;

   280

            }

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        }

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        sc->slave = NULL;

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    }

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}

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   287

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

   288

   289

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

   290

 */

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void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   292

{

   293

    uint8_t sync_index;

   294

    ec_sync_config_t *sync_config;

   295

    const ec_sync_t *sync;

   296

   297

    if (!sc->slave)

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        return;

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   300

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

   301

        sync_config = &sc->sync_configs[sync_index];

   302

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

   303

            sync_config->dir = ec_sync_default_direction(sync);

   304

            if (sync_config->dir == EC_DIR_INVALID)

   305

                EC_SLAVE_WARN(sc->slave,

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                        "SM%u has an invalid direction field!\n", sync_index);

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

   308

        }

   309

    }

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}

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   312

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

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   314

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

   315

 */

   316

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

   319

        )

   320

{

   321

    unsigned int i;

   322

    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

   324

   325

    if (!sc->slave)

   326

        return;

   327

   328

    EC_CONFIG_DBG(sc, 1, "Loading default mapping for PDO 0x%04X.\n",

   329

            pdo->index);

   330

   331

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

   332

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

   333

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

   334

   335

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

   336

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

   337

                continue;

   338

   339

            if (default_pdo->name) {

   340

                EC_CONFIG_DBG(sc, 1, "Found PDO name \"%s\".\n",

   341

                        default_pdo->name);

   342

   343

                // take PDO name from assigned one

   344

                ec_pdo_set_name(pdo, default_pdo->name);

   345

            }

   346

   347

            // copy entries (= default PDO mapping)

   348

            if (ec_pdo_copy_entries(pdo, default_pdo))

   349

                return;

   350

   351

            if (sc->master->debug_level) {

   352

                const ec_pdo_entry_t *entry;

   353

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

   354

                    EC_CONFIG_DBG(sc, 1, "Entry 0x%04X:%02X.\n",

   355

                            entry->index, entry->subindex);

   356

                }

   357

            }

   358

   359

            return;

   360

        }

   361

    }

   362

   363

    EC_CONFIG_DBG(sc, 1, "No default mapping found.\n");

   364

}

   365

   366

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

   367

   368

/** Get the number of SDO configurations.

   369

 *

   370

 * \return Number of SDO configurations.

   371

 */

   372

unsigned int ec_slave_config_sdo_count(

   373

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

   374

        )

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{

   376

    const ec_sdo_request_t *req;

   377

    unsigned int count = 0;

   378

   379

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

   380

        count++;

   381

    }

   382

   383

    return count;

   384

}

   385

   386

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

   387

   388

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

   389

 *

   390

 * Const version.

   391

 *

   392

 * \return Search result, or NULL.

   393

 */

   394

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   395

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

   396

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

   397

        )

   398

{

   399

    const ec_sdo_request_t *req;

   400

   401

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

   402

        if (pos--)

   403

            continue;

   404

        return req;

   405

    }

   406

   407

    return NULL;

   408

}

   409

   410

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

   411

   412

/** Get the number of IDN configurations.

   413

 *

   414

 * \return Number of SDO configurations.

   415

 */

   416

unsigned int ec_slave_config_idn_count(

   417

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

   418

        )

   419

{

   420

    const ec_soe_request_t *req;

   421

    unsigned int count = 0;

   422

   423

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

   424

        count++;

   425

    }

   426

   427

    return count;

   428

}

   429

   430

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

   431

   432

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

   433

 *

   434

 * Const version.

   435

 *

   436

 * \return Search result, or NULL.

   437

 */

   438

const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(

   439

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

   440

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

   441

        )

   442

{

   443

    const ec_soe_request_t *req;

   444

   445

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

   446

        if (pos--)

   447

            continue;

   448

        return req;

   449

    }

   450

   451

    return NULL;

   452

}

   453

   454

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

   455

   456

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

   457

 *

   458

 * \return Search result, or NULL.

   459

 */

   460

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   461

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

   462

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

   463

        )

   464

{

   465

    ec_sdo_request_t *req;

   466

   467

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

   468

        if (pos--)

   469

            continue;

   470

        return req;

   471

    }

   472

   473

    return NULL;

   474

}

   475

   476

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

   477

   478

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

   479

 *

   480

 * \return Search result, or NULL.

   481

 */

   482

ec_reg_request_t *ec_slave_config_find_reg_request(

   483

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

   484

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

   485

        )

   486

{

   487

    ec_reg_request_t *reg;

   488

   489

    list_for_each_entry(reg, &sc->reg_requests, list) {

   490

        if (pos--)

   491

            continue;

   492

        return reg;

   493

    }

   494

   495