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

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 *

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 *  s l a v e . c

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 *

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 *  Methoden für einen EtherCAT-Slave.

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 *

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 *  $Id$

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 *

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

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#include <linux/module.h>

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#include <linux/delay.h>

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#include "../include/EtherCAT_si.h"

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#include "globals.h"

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#include "slave.h"

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#include "command.h"

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#include "master.h"

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

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/**

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   EtherCAT-Slave-Konstruktor.

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*/

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void ec_slave_init(ec_slave_t *slave, /**< EtherCAT-Slave */

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                   ec_master_t *master /**< EtherCAT-Master */

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                   )

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{

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    slave->master = master;

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    slave->base_type = 0;

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    slave->base_revision = 0;

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    slave->base_build = 0;

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    slave->base_fmmu_count = 0;

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    slave->base_sync_count = 0;

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    slave->ring_position = 0;

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    slave->station_address = 0;

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    slave->sii_vendor_id = 0;

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    slave->sii_product_code = 0;

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    slave->sii_revision_number = 0;

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    slave->sii_serial_number = 0;

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    slave->type = NULL;

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    slave->registered = 0;

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    slave->fmmu_count = 0;

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}

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

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/**

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   EtherCAT-Slave-Destruktor.

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*/

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void ec_slave_clear(ec_slave_t *slave /**< EtherCAT-Slave */)

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{

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    // Nichts freizugeben

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}

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

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/**

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   Liest alle benötigten Informationen aus einem Slave.

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   \return 0 wenn alles ok, < 0 bei Fehler.

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*/

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int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT-Slave */)

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{

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    ec_command_t command;

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    // Read base data

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    ec_command_init_nprd(&command, slave->station_address, 0x0000, 6);

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    if (unlikely(ec_master_simple_io(slave->master, &command))) {

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        EC_ERR("Reading base datafrom slave %i failed!\n",

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               slave->ring_position);

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        return -1;

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    }

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    slave->base_type =       EC_READ_U8 (command.data);

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    slave->base_revision =   EC_READ_U8 (command.data + 1);

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    slave->base_build =      EC_READ_U16(command.data + 2);

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    slave->base_fmmu_count = EC_READ_U8 (command.data + 4);

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    slave->base_sync_count = EC_READ_U8 (command.data + 5);

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    if (slave->base_fmmu_count > EC_MAX_FMMUS)

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        slave->base_fmmu_count = EC_MAX_FMMUS;

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    // Read identification from "Slave Information Interface" (SII)

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    if (unlikely(ec_slave_sii_read(slave, 0x0008, &slave->sii_vendor_id))) {

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        EC_ERR("Could not read SII vendor id!\n");

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        return -1;

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    }

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    if (unlikely(ec_slave_sii_read(slave, 0x000A, &slave->sii_product_code))) {

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        EC_ERR("Could not read SII product code!\n");

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        return -1;

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    }

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    if (unlikely(ec_slave_sii_read(slave, 0x000C,

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                                   &slave->sii_revision_number))) {

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        EC_ERR("Could not read SII revision number!\n");

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        return -1;

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    }

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    if (unlikely(ec_slave_sii_read(slave, 0x000E,

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                                   &slave->sii_serial_number))) {

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        EC_ERR("Could not read SII serial number!\n");

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        return -1;

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    }

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    return 0;

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}

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

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/**

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   Liest Daten aus dem Slave-Information-Interface

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   eines EtherCAT-Slaves.

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   \return 0 bei Erfolg, sonst < 0

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*/

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int ec_slave_sii_read(ec_slave_t *slave,

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                      /**< EtherCAT-Slave */

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                      uint16_t offset,

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                      /**< Adresse des zu lesenden SII-Registers */

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                      uint32_t *target

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                      /**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen

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                         der Daten */

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                      )

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{

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    ec_command_t command;

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    uint8_t data[10];

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    cycles_t start, end, timeout;

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    // Initiate read operation

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    EC_WRITE_U8 (data,     0x00);

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    EC_WRITE_U8 (data + 1, 0x01);

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    EC_WRITE_U16(data + 2, offset);

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    EC_WRITE_U16(data + 4, 0x0000);

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    ec_command_init_npwr(&command, slave->station_address, 0x502, 6, data);

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    if (unlikely(ec_master_simple_io(slave->master, &command))) {

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        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

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        return -1;

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    }

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    // Der Slave legt die Informationen des Slave-Information-Interface

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    // in das Datenregister und löscht daraufhin ein Busy-Bit. Solange

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    // den Status auslesen, bis das Bit weg ist.

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    start = get_cycles();

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    timeout = cpu_khz; // 1ms

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    do

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    {

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        ec_command_init_nprd(&command, slave->station_address, 0x502, 10);

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        if (unlikely(ec_master_simple_io(slave->master, &command))) {

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            EC_ERR("Getting SII-read status failed on slave %i!\n",

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                   slave->ring_position);

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            return -1;

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        }

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        end = get_cycles();

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        if (likely((EC_READ_U8(command.data + 1) & 0x81) == 0)) {

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            memcpy(target, command.data + 6, 4);

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            break;

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        }

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    }

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    while (likely((end - start) < timeout));

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    if (unlikely((end - start) >= timeout)) {

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        EC_ERR("SSI-read. Slave %i timed out!\n", slave->ring_position);

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        return -1;

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    }

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    return 0;

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}

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

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/**

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   Bestätigt einen Fehler beim Zustandswechsel.

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   \todo Funktioniert noch nicht...

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*/

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void ec_slave_state_ack(ec_slave_t *slave,

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                        /**< Slave, dessen Zustand geändert werden soll */

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                        uint8_t state

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                        /**< Alter Zustand */

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                        )

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{

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    ec_command_t command;

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    uint8_t data[2];

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    cycles_t start, end, timeout;

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    EC_WRITE_U16(data, state | EC_ACK);

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    ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data);

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    if (unlikely(ec_master_simple_io(slave->master, &command))) {

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        EC_WARN("State %02X acknowledge failed on slave %i!\n",

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                state, slave->ring_position);

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        return;

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    }

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    start = get_cycles();

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    timeout = cpu_khz; // 1ms

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    do

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    {

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        ec_command_init_nprd(&command, slave->station_address, 0x0130, 2);

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        if (unlikely(ec_master_simple_io(slave->master, &command))) {

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            EC_WARN("State %02X acknowledge checking failed on slave %i!\n",

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                    state, slave->ring_position);

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            return;

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        }

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        end = get_cycles();

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        if (unlikely(EC_READ_U8(command.data) != state)) {

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            EC_WARN("Could not acknowledge state %02X on slave %i (code"

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                    " %02X)!\n", state, slave->ring_position,

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                    EC_READ_U8(command.data));

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            return;

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        }

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        if (likely(EC_READ_U8(command.data) == state)) {

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            EC_INFO("Acknowleged state %02X on slave %i.\n", state,

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                    slave->ring_position);

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            return;

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        }

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    }

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    while (likely((end - start) < timeout));

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    if (unlikely((end - start) >= timeout)) {

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        EC_WARN("Could not check state acknowledgement %02X of slave %i -"

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                " Timeout while checking!\n", state, slave->ring_position);

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        return;

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    }

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}

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

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/**

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   Ändert den Zustand eines Slaves.

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   \return 0 bei Erfolg, sonst < 0

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*/

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int ec_slave_state_change(ec_slave_t *slave,

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                          /**< Slave, dessen Zustand geändert werden soll */

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                          uint8_t state

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                          /**< Neuer Zustand */

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                          )

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{

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    ec_command_t command;

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    uint8_t data[2];

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    cycles_t start, end, timeout;

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    EC_WRITE_U16(data, state);

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    ec_command_init_npwr(&command, slave->station_address, 0x0120, 2, data);

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    if (unlikely(ec_master_simple_io(slave->master, &command))) {

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        EC_ERR("Failed to set state %02X on slave %i!\n",

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               state, slave->ring_position);

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        return -1;

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    }

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    start = get_cycles();

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    timeout = cpu_khz; // 1ms

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    do

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    {

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        udelay(100); // Dem Slave etwas Zeit lassen...

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        ec_command_init_nprd(&command, slave->station_address, 0x0130, 2);

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        if (unlikely(ec_master_simple_io(slave->master, &command))) {

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            EC_ERR("Failed to check state %02X on slave %i!\n",

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                   state, slave->ring_position);

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            return -1;

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        }

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        end = get_cycles();

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        if (unlikely(EC_READ_U8(command.data) & 0x10)) { // State change error

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            EC_ERR("Could not set state %02X - Slave %i refused state change"

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                   " (code %02X)!\n", state, slave->ring_position,

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                   EC_READ_U8(command.data));

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            ec_slave_state_ack(slave, EC_READ_U8(command.data) & 0x0F);

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            return -1;

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        }

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        if (likely(EC_READ_U8(command.data) == (state & 0x0F))) {

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            // State change successful

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            break;

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        }

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    }

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    while (likely((end - start) < timeout));

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    if (unlikely((end - start) >= timeout)) {

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        EC_ERR("Could not check state %02X of slave %i - Timeout!\n", state,

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               slave->ring_position);

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        return -1;

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    }

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    return 0;

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}

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

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/**

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   Merkt eine FMMU-Konfiguration vor.

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   Die FMMU wird so konfiguriert, dass sie den gesamten Datenbereich des

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   entsprechenden Sync-Managers abdeckt. Für jede Domäne werden separate

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   FMMUs konfiguriert.

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   Wenn die entsprechende FMMU bereits konfiguriert ist, wird dies als

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   Erfolg zurückgegeben.

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   \return 0 bei Erfolg, sonst < 0

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*/

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int ec_slave_set_fmmu(ec_slave_t *slave, /**< EtherCAT-Slave */

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                      const ec_domain_t *domain, /**< Domäne */

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                      const ec_sync_t *sync  /**< Sync-Manager */

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                      )

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{

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    unsigned int i;

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    // FMMU schon vorgemerkt?

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

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        if (slave->fmmus[i].domain == domain && slave->fmmus[i].sync == sync)

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            return 0;

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    // Neue FMMU reservieren...

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    if (slave->fmmu_count >= slave->base_fmmu_count) {

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        EC_ERR("Slave %i FMMU limit reached!\n", slave->ring_position);

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        return -1;

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    }

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    slave->fmmus[slave->fmmu_count].domain = domain;

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    slave->fmmus[slave->fmmu_count].sync = sync;

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    slave->fmmus[slave->fmmu_count].logical_start_address = 0;

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    slave->fmmu_count++;

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    slave->registered = 1;

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    return 0;

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}

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

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/**

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   Gibt alle Informationen über einen EtherCAT-Slave aus.

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*/

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void ec_slave_print(const ec_slave_t *slave /**< EtherCAT-Slave */)

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{

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    EC_INFO("--- EtherCAT slave information ---\n");

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    if (slave->type) {

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        EC_INFO("  Vendor \"%s\", Product \"%s\": %s\n",

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                slave->type->vendor_name, slave->type->product_name,

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                slave->type->description);

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    }

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    else {

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        EC_INFO("  *** This slave has no type information! ***\n");

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    }

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    EC_INFO("  Ring position: %i, Station address: 0x%04X\n",

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            slave->ring_position, slave->station_address);

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    EC_INFO("  Base information:\n");

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    EC_INFO("    Type %u, Revision %i, Build %i\n",

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            slave->base_type, slave->base_revision, slave->base_build);

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    EC_INFO("    Supported FMMUs: %i, Sync managers: %i\n",

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            slave->base_fmmu_count, slave->base_sync_count);

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    EC_INFO("  Slave information interface:\n");

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    EC_INFO("    Vendor-ID: 0x%08X, Product code: 0x%08X\n",

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            slave->sii_vendor_id, slave->sii_product_code);

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    EC_INFO("    Revision number: 0x%08X, Serial number: 0x%08X\n",

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            slave->sii_revision_number, slave->sii_serial_number);

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}

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

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/**

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   Gibt die Zählerstände der CRC-Fault-Counter aus und setzt diese zurück.

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   \return 0 bei Erfolg, sonst < 0

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*/

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int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT-Slave */)

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{

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    ec_command_t command;

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    uint8_t data[4];

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    ec_command_init_nprd(&command, slave->station_address, 0x0300, 4);

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    if (unlikely(ec_master_simple_io(slave->master, &command))) {

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        EC_WARN("Reading CRC fault counters failed on slave %i!\n",

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                slave->ring_position);

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        return -1;

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    }

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    // No CRC faults.

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    if (!EC_READ_U16(command.data) && !EC_READ_U16(command.data + 2)) return 0;

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   413

    EC_WARN("CRC faults on slave %i. A: %i, B: %i\n", slave->ring_position,

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            EC_READ_U16(command.data), EC_READ_U16(command.data + 2));

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    // Reset CRC counters

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    EC_WRITE_U16(data,     0x0000);

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    EC_WRITE_U16(data + 2, 0x0000);

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    ec_command_init_npwr(&command, slave->station_address, 0x0300, 4, data);

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    if (unlikely(ec_master_simple_io(slave->master, &command))) {

   421

        EC_WARN("Resetting CRC fault counters failed on slave %i!\n",

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                slave->ring_position);

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        return -1;

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    }

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    return 0;

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}

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

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/* Emacs-Konfiguration

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;;; Local Variables: ***

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;;; c-basic-offset:4 ***

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;;; End: ***

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*/