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

     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

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 *  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

    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

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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(eeprom);

    71

EC_SYSFS_READ_WRITE_ATTR(alias);

    72

    73

static struct attribute *def_attrs[] = {

    74

    &attr_info,

    75

    &attr_state,

    76

    &attr_eeprom,

    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->eeprom_data = NULL;

   131

    slave->eeprom_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

    slave->sii_group = NULL;

   144

    slave->sii_image = NULL;

   145

    slave->sii_order = NULL;

   146

    slave->sii_name = NULL;

   147

    slave->sii_current_on_ebus = 0;

   148

   149

    slave->sii_strings = NULL;

   150

    slave->sii_string_count = 0;

   151

    slave->sii_syncs = NULL;

   152

    slave->sii_sync_count = 0;

   153

    INIT_LIST_HEAD(&slave->sii_pdos);

   154

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   155

   156

    slave->sdo_dictionary_fetched = 0;

   157

    slave->pdo_mapping_fetched = 0;

   158

    slave->jiffies_preop = 0;

   159

   160

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

   161

        slave->dl_link[i] = 0;

   162

        slave->dl_loop[i] = 0;

   163

        slave->dl_signal[i] = 0;

   164

        slave->sii_physical_layer[i] = 0xFF;

   165

    }

   166

   167

    // init kobject and add it to the hierarchy

   168

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

   169

    kobject_init(&slave->kobj);

   170

    slave->kobj.ktype = &ktype_ec_slave;

   171

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

   172

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

   173

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

   174

        goto out_slave_put;

   175

    }

   176

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

   177

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

   178

        goto out_slave_put;

   179

    }

   180

   181

    // init SDO kobject and add it to the hierarchy

   182

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

   183

    kobject_init(&slave->sdo_kobj);

   184

    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

   185

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

   186

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

   187

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

   188

        goto out_sdo_put;

   189

    }

   190

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

   191

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

   192

        goto out_sdo_put;

   193

    }

   194

   195

    return 0;

   196

   197

 out_sdo_put:

   198

    kobject_put(&slave->sdo_kobj);

   199

    kobject_del(&slave->kobj);

   200

 out_slave_put:

   201

    kobject_put(&slave->kobj);

   202

    return -1;

   203

}

   204

   205

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

   206

   207

/**

   208

   Slave destructor.

   209

   Clears and frees a slave object.

   210

*/

   211

   212

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

   213

{

   214

    ec_sdo_t *sdo, *next_sdo;

   215

   216

    if (slave->config)

   217

        ec_slave_config_detach(slave->config);

   218

   219

    // free all SDOs

   220

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

   221

        list_del(&sdo->list);

   222

        ec_sdo_destroy(sdo);

   223

    }

   224

   225

    // free SDO kobject

   226

    kobject_del(&slave->sdo_kobj);

   227

    kobject_put(&slave->sdo_kobj);

   228

   229

    // destroy self

   230

    kobject_del(&slave->kobj);

   231

    kobject_put(&slave->kobj);

   232

}

   233

   234

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

   235

   236

/**

   237

   Clear and free slave.

   238

   This method is called by the kobject,

   239

   once there are no more references to it.

   240

*/

   241

   242

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

   243

{

   244

    ec_slave_t *slave;

   245

    ec_pdo_t *pdo, *next_pdo;

   246

    unsigned int i;

   247

   248

    slave = container_of(kobj, ec_slave_t, kobj);

   249

   250

    // free all strings

   251

    if (slave->sii_strings) {

   252

        for (i = 0; i < slave->sii_string_count; i++)

   253

            kfree(slave->sii_strings[i]);

   254

        kfree(slave->sii_strings);

   255

    }

   256

   257

    // free all sync managers

   258

    if (slave->sii_syncs) {

   259

        for (i = 0; i < slave->sii_sync_count; i++) {

   260

            ec_sync_clear(&slave->sii_syncs[i]);

   261

        }

   262

        kfree(slave->sii_syncs);

   263

    }

   264

   265

    // free all SII PDOs

   266

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

   267

        list_del(&pdo->list);

   268

        ec_pdo_clear(pdo);

   269

        kfree(pdo);

   270

    }

   271

   272

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

   273

   274

    kfree(slave);

   275

}

   276

   277

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

   278

   279

/**

   280

 * SDO kobject clear method.

   281

 */

   282

   283

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

   284

{

   285

}

   286

   287

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

   288

   289

/**

   290

 * Sets the application state of a slave.

   291

 */

   292

   293

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

   294

        ec_slave_state_t new_state /**< new application state */

   295

        )

   296

{

   297

    if (new_state != slave->current_state) {

   298

        if (slave->master->debug_level) {

   299

            char old_state[EC_STATE_STRING_SIZE],

   300

                cur_state[EC_STATE_STRING_SIZE];

   301

            ec_state_string(slave->current_state, old_state);

   302

            ec_state_string(new_state, cur_state);

   303

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

   304

                   slave->ring_position, old_state, cur_state);

   305

        }

   306

        slave->current_state = new_state;

   307

    }

   308

}

   309

   310

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

   311

   312

/**

   313

 * Sets the online state of a slave.

   314

 */

   315

   316

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

   317

        ec_slave_online_state_t new_state /**< new online state */

   318

        )

   319

{

   320

    if (new_state == EC_SLAVE_OFFLINE &&

   321

            slave->online_state == EC_SLAVE_ONLINE) {

   322

        if (slave->master->debug_level)

   323

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

   324

    }

   325

    else if (new_state == EC_SLAVE_ONLINE &&

   326

            slave->online_state == EC_SLAVE_OFFLINE) {

   327

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

   328

        if (slave->master->debug_level) {

   329

            char cur_state[EC_STATE_STRING_SIZE];

   330

            ec_state_string(slave->current_state, cur_state);

   331

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

   332

                   slave->ring_position, cur_state);

   333

        }

   334

    }

   335

   336

    slave->online_state = new_state;

   337

}

   338

   339

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

   340

   341

/**

   342

 * Request a slave state and resets the error flag.

   343

 */

   344

   345

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

   346

                            ec_slave_state_t state /**< new state */

   347

                            )

   348

{

   349

    slave->requested_state = state;

   350

    slave->error_flag = 0;

   351

}

   352

   353

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

   354

   355

/**

   356

   Fetches data from a STRING category.

   357

   \todo range checking

   358

   \return 0 in case of success, else < 0

   359

*/

   360

   361

int ec_slave_fetch_sii_strings(

   362

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

   363

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

   364

        size_t data_size /**< number of bytes */

   365

        )

   366

{

   367

    int i;

   368

    size_t size;

   369

    off_t offset;

   370

   371

    slave->sii_string_count = data[0];

   372

   373

    if (!slave->sii_string_count)

   374

        return 0;

   375

   376

    if (!(slave->sii_strings =

   377

                kmalloc(sizeof(char *) * slave->sii_string_count,

   378

                    GFP_KERNEL))) {

   379

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

   380

        goto out_zero;

   381

    }

   382

   383

    offset = 1;

   384

    for (i = 0; i < slave->sii_string_count; i++) {

   385

        size = data[offset];

   386

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

   387

        if (!(slave->sii_strings[i] =

   388

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

   389

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

   390

            goto out_free;

   391

        }

   392

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

   393

        slave->sii_strings[i][size] = 0x00; // append binary zero

   394

        offset += 1 + size;

   395

    }

   396

   397

    return 0;

   398

   399

out_free:

   400

    for (i--; i >= 0; i--) kfree(slave->sii_strings[i]);

   401

    kfree(slave->sii_strings);

   402

    slave->sii_strings = NULL;

   403

out_zero:

   404

    slave->sii_string_count = 0;

   405

    return -1;

   406

}

   407

   408

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

   409

   410

/**

   411

   Fetches data from a GENERAL category.

   412

   \return 0 in case of success, else < 0

   413

*/

   414

   415

int ec_slave_fetch_sii_general(

   416

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

   417

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

   418

        size_t data_size /**< size in bytes */

   419

        )

   420

{

   421

    unsigned int i;

   422

   423

    if (data_size != 32) {

   424

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

   425

                data_size, slave->ring_position);

   426

        return -1;

   427

    }

   428

   429

    slave->sii_group = ec_slave_sii_string(slave, data[0]);

   430

    slave->sii_image = ec_slave_sii_string(slave, data[1]);

   431

    slave->sii_order = ec_slave_sii_string(slave, data[2]);

   432

    slave->sii_name = ec_slave_sii_string(slave, data[3]);

   433

   434

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

   435

        slave->sii_physical_layer[i] =

   436

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

   437

   438

    slave->sii_current_on_ebus = EC_READ_S16(data + 0x0C);

   439

   440

    return 0;

   441

}

   442

   443

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

   444

   445

/**

   446

   Fetches data from a SYNC MANAGER category.

   447

   \return 0 in case of success, else < 0

   448

*/

   449

   450

int ec_slave_fetch_sii_syncs(

   451

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

   452

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

   453

        size_t data_size /**< number of bytes */

   454

        )

   455

{

   456

    unsigned int i;

   457

    ec_sync_t *sync;

   458

    size_t memsize;

   459

   460

    // one sync manager struct is 4 words long

   461

    if (data_size % 8) {

   462

        EC_ERR("Invalid SII sync manager size %u in slave %u.\n",

   463

                data_size, slave->ring_position);

   464

        return -1;

   465

    }

   466

   467

    slave->sii_sync_count = data_size / 8;

   468

   469

    memsize = sizeof(ec_sync_t) * slave->sii_sync_count;

   470

    if (!(slave->sii_syncs = kmalloc(memsize, GFP_KERNEL))) {

   471

        EC_ERR("Failed to allocate %u bytes for sync managers.\n",

   472

                memsize);

   473

        slave->sii_sync_count = 0;

   474

        return -1;

   475

    }

   476

   477

    for (i = 0; i < slave->sii_sync_count; i++, data += 8) {

   478

        sync = &slave->sii_syncs[i];

   479

   480

        ec_sync_init(sync, slave, i);

   481

        sync->physical_start_address = EC_READ_U16(data);

   482

        sync->length = EC_READ_U16(data + 2);

   483

        sync->control_register = EC_READ_U8 (data + 4);

   484

        sync->enable = EC_READ_U8 (data + 6);

   485

    }

   486