1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave configuration methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/slab.h>

    38

    39

#include "globals.h"

    40

#include "master.h"

    41

#include "voe_handler.h"

    42

    43

#include "slave_config.h"

    44

    45

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

    46

    47

/** Slave configuration constructor.

    48

 *

    49

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

    50

 * position parameters.

    51

 */

    52

void ec_slave_config_init(

    53

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

    54

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

    55

        uint16_t alias, /**< Slave alias. */

    56

        uint16_t position, /**< Slave position. */

    57

        uint32_t vendor_id, /**< Expected vendor ID. */

    58

        uint32_t product_code /**< Expected product code. */

    59

        )

    60

{

    61

    unsigned int i;

    62

    63

    sc->master = master;

    64

    65

    sc->alias = alias;

    66

    sc->position = position;

    67

    sc->vendor_id = vendor_id;

    68

    sc->product_code = product_code;

    69

    70

    sc->slave = NULL;

    71

    72

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

    73

        ec_sync_config_init(&sc->sync_configs[i]);

    74

    75

    sc->used_fmmus = 0;

    76

    77

	sc->dc_assign_activate = 0x0000;

    78

	sc->dc_sync[0].cycle_time = 0x00000000;

    79

	sc->dc_sync[1].cycle_time = 0x00000000;

    80

	sc->dc_sync[0].shift_time = 0x00000000;

    81

	sc->dc_sync[1].shift_time = 0x00000000;

    82

    83

    INIT_LIST_HEAD(&sc->sdo_configs);

    84

    INIT_LIST_HEAD(&sc->sdo_requests);

    85

    INIT_LIST_HEAD(&sc->voe_handlers);

    86

}

    87

    88

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

    89

    90

/** Slave configuration destructor.

    91

 *

    92

 * Clears and frees a slave configuration object.

    93

 */

    94

void ec_slave_config_clear(

    95

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

    96

        )

    97

{

    98

    unsigned int i;

    99

    ec_sdo_request_t *req, *next_req;

   100

    ec_voe_handler_t *voe, *next_voe;

   101

   102

    ec_slave_config_detach(sc);

   103

   104

    // Free sync managers

   105

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

   106

        ec_sync_config_clear(&sc->sync_configs[i]);

   107

   108

    // free all SDO configurations

   109

    list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {

   110

        list_del(&req->list);

   111

        ec_sdo_request_clear(req);

   112

        kfree(req);

   113

    }

   114

   115

    // free all SDO requests

   116

    list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {

   117

        list_del(&req->list);

   118

        ec_sdo_request_clear(req);

   119

        kfree(req);

   120

    }

   121

   122

    // free all VoE handlers

   123

    list_for_each_entry_safe(voe, next_voe, &sc->voe_handlers, list) {

   124

        list_del(&voe->list);

   125

        ec_voe_handler_clear(voe);

   126

        kfree(voe);

   127

    }

   128

}

   129

   130

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

   131

   132

/** Prepares an FMMU configuration.

   133

 *

   134

 * Configuration data for the FMMU is saved in the slave config structure and

   135

 * is written to the slave during the configuration. The FMMU configuration

   136

 * is done in a way, that the complete data range of the corresponding sync

   137

 * manager is covered. Seperate FMMUs are configured for each domain. If the

   138

 * FMMU configuration is already prepared, the function does nothing and

   139

 * returns with success.

   140

 *

   141

 * \retval >=0 Success, logical offset byte address.

   142

 * \retval  <0 Error code.

   143

 */

   144

int ec_slave_config_prepare_fmmu(

   145

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

   146

        ec_domain_t *domain, /**< Domain. */

   147

        uint8_t sync_index, /**< Sync manager index. */

   148

        ec_direction_t dir /**< PDO direction. */

   149

        )

   150

{

   151

    unsigned int i;

   152

    ec_fmmu_config_t *fmmu;

   153

   154

    // FMMU configuration already prepared?

   155

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

   156

        fmmu = &sc->fmmu_configs[i];

   157

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

   158

            return fmmu->logical_start_address;

   159

    }

   160

   161

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   162

        EC_ERR("FMMU limit reached for slave configuration %u:%u!\n",

   163

                sc->alias, sc->position);

   164

        return -EOVERFLOW;

   165

    }

   166

   167

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

   168

   169

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

   170

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

   171

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

   172

   173

    return fmmu->logical_start_address;

   174

}

   175

   176

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

   177

   178

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

   179

 *

   180

 * \retval  0 Success.

   181

 * \retval <0 Error code.

   182

 */

   183

int ec_slave_config_attach(

   184

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

   185

        )

   186

{

   187

	ec_slave_t *slave;

   188

   189

	if (sc->slave)

   190

		return 0; // already attached

   191

   192

    if (!(slave = ec_master_find_slave(

   193

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

   194

        if (sc->master->debug_level)

   195

            EC_DBG("Failed to find slave for configuration %u:%u.\n",

   196

                    sc->alias, sc->position);

   197

        return -ENOENT;

   198

    }

   199

   200

	if (slave->config) {

   201

        if (sc->master->debug_level)

   202

            EC_DBG("Failed to attach slave configuration %u:%u. Slave %u"

   203

                    " already has a configuration!\n", sc->alias,

   204

                    sc->position, slave->ring_position);

   205

        return -EEXIST;

   206

    }

   207

   208

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

   209

            || slave->sii.product_code != sc->product_code) {

   210

        if (sc->master->debug_level)

   211

            EC_DBG("Slave %u has an invalid type (0x%08X/0x%08X) for"

   212

                    " configuration %u:%u (0x%08X/0x%08X).\n",

   213

                    slave->ring_position, slave->sii.vendor_id,

   214

                    slave->sii.product_code, sc->alias, sc->position,

   215

                    sc->vendor_id, sc->product_code);

   216

        return -EINVAL;

   217

	}

   218

   219

	// attach slave

   220

	slave->config = sc;

   221

	sc->slave = slave;

   222

   223

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   224

   225

    if (sc->master->debug_level)

   226

        EC_DBG("Attached slave %u to config %u:%u.\n",

   227

                slave->ring_position, sc->alias, sc->position);

   228

   229

	return 0;

   230

}

   231

   232

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

   233

   234

/** Detaches the configuration from a slave object.

   235

 */

   236

void ec_slave_config_detach(

   237

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

   238

        )

   239

{

   240

    if (sc->slave) {

   241

        sc->slave->config = NULL;

   242

        sc->slave = NULL;

   243

    }

   244

}

   245

   246

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

   247

   248

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

   249

 */

   250

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   251

{

   252

    uint8_t sync_index;

   253

    ec_sync_config_t *sync_config;

   254

    const ec_sync_t *sync;

   255

   256

    if (!sc->slave)

   257

        return;

   258

   259

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

   260

        sync_config = &sc->sync_configs[sync_index];

   261

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

   262

            sync_config->dir = ec_sync_default_direction(sync);

   263

            if (sync_config->dir == EC_DIR_INVALID)

   264

                EC_WARN("SM%u of slave %u has an invalid direction field!\n",

   265

                        sync_index, sc->slave->ring_position);

   266

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

   267

        }

   268

    }

   269

}

   270

   271

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

   272

   273

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

   274

 */

   275

void ec_slave_config_load_default_mapping(

   276

        const ec_slave_config_t *sc,

   277

        ec_pdo_t *pdo

   278

        )

   279

{

   280

    unsigned int i;

   281

    const ec_sync_t *sync;

   282

    const ec_pdo_t *default_pdo;

   283

   284

    if (!sc->slave)

   285

        return;

   286

   287

    if (sc->master->debug_level)

   288

        EC_DBG("Loading default mapping for PDO 0x%04X in config %u:%u.\n",

   289

                pdo->index, sc->alias, sc->position);

   290

   291

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

   292

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

   293

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

   294

   295

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

   296

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

   297

                continue;

   298

   299

            if (default_pdo->name) {

   300

                if (sc->master->debug_level)

   301

                    EC_DBG("Found PDO name \"%s\".\n", default_pdo->name);

   302

   303

                // take PDO name from assigned one

   304

                ec_pdo_set_name(pdo, default_pdo->name);

   305

            }

   306

   307

            // copy entries (= default PDO mapping)

   308

            if (ec_pdo_copy_entries(pdo, default_pdo))

   309

                return;

   310

   311

            if (sc->master->debug_level) {

   312

                const ec_pdo_entry_t *entry;

   313

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

   314

                    EC_DBG("Entry 0x%04X:%02X.\n",

   315

                            entry->index, entry->subindex);

   316

                }

   317

            }

   318

   319

            return;

   320

        }

   321

    }

   322

   323

    if (sc->master->debug_level)

   324

        EC_DBG("No default mapping found.\n");

   325

}

   326

   327

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

   328

   329

/** Get the number of SDO configurations.

   330

 *

   331

 * \return Number of SDO configurations.

   332

 */

   333

unsigned int ec_slave_config_sdo_count(

   334

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

   335

        )

   336

{

   337

	const ec_sdo_request_t *req;

   338

	unsigned int count = 0;

   339

   340

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

   341

		count++;

   342

	}

   343

   344

	return count;

   345

}

   346

   347

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

   348

   349

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

   350

 *

   351

 * Const version.

   352

 */

   353

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   354

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

   355

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

   356

        )

   357

{

   358

    const ec_sdo_request_t *req;

   359

   360

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

   361

        if (pos--)

   362

            continue;

   363

        return req;

   364

    }

   365

   366

    return NULL;

   367

}

   368

   369

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

   370

   371

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

   372

 */

   373

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   374

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

   375

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

   376

        )

   377

{

   378

    ec_sdo_request_t *req;

   379

   380

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

   381

        if (pos--)

   382

            continue;

   383

        return req;

   384

    }

   385

   386

    return NULL;

   387

}

   388

   389

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

   390

   391

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

   392

 */

   393

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   394

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

   395

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

   396

        )

   397

{

   398

    ec_voe_handler_t *voe;

   399

   400

    list_for_each_entry(voe, &sc->voe_handlers, list) {

   401

        if (pos--)

   402

            continue;

   403

        return voe;

   404

    }

   405

   406

    return NULL;

   407

}

   408

   409

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

   410

 *  Application interface

   411

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

   412

   413

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   414

        ec_direction_t dir)

   415

{

   416

    ec_sync_config_t *sync_config;

   417

   418

    if (sc->master->debug_level)

   419

        EC_DBG("ecrt_slave_config_sync_manager(sc = 0x%x, sync_index = %u, "

   420

                "dir = %u)\n", (u32) sc, sync_index, dir);

   421

   422

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   423

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   424

        return -ENOENT;

   425

    }

   426

   427

    if (dir != EC_DIR_OUTPUT && dir != EC_DIR_INPUT) {

   428

        EC_ERR("Invalid direction %u!\n", (u32) dir);

   429

        return -EINVAL;

   430

    }

   431

   432

    sync_config = &sc->sync_configs[sync_index];

   433

    sync_config->dir = dir;

   434

    return 0;

   435

}

   436

   437

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

   438

   439

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   440

        uint8_t sync_index, uint16_t pdo_index)

   441

{

   442

    ec_pdo_t *pdo;

   443

   444

    if (sc->master->debug_level)

   445

        EC_DBG("ecrt_slave_config_pdo_assign_add(sc = 0x%x, sync_index = %u, "

   446

                "pdo_index = 0x%04X)\n", (u32) sc, sync_index, pdo_index);

   447

   448

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   449

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   450

        return -EINVAL;

   451

    }

   452

   453

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

   454

   455

    pdo = ec_pdo_list_add_pdo(&sc->sync_configs[sync_index].pdos, pdo_index);

   456

    if (IS_ERR(pdo)) {

   457

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

   458

        return PTR_ERR(pdo);

   459

    }

   460

    pdo->sync_index = sync_index;

   461

   462

    ec_slave_config_load_default_mapping(sc, pdo);

   463

   464

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

   465

    return 0;

   466

}

   467

   468

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

   469

   470

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   471

        uint8_t sync_index)

   472

{

   473

    if (sc->master->debug_level)

   474

        EC_DBG("ecrt_slave_config_pdo_assign_clear(sc = 0x%x, "

   475

                "sync_index = %u)\n", (u32) sc, sync_index);

   476

   477

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   478

        EC_ERR("Invalid sync manager index %u!\n", sync_index);

   479

        return;

   480

    }

   481

   482

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

   483

    ec_pdo_list_clear_pdos(&sc->sync_configs[sync_index].pdos);

   484

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

   485

}

   486

   487

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

   488

   489

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   490

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   491

        uint8_t entry_bit_length)

   492

{

   493

    uint8_t sync_index;

   494

    ec_pdo_t *pdo = NULL;

   495

    ec_pdo_entry_t *entry;

   496

    int retval = 0;