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

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 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

     7

 *  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

    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.

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 *

    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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  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

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

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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    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 "slave.h"

    46

#include "command.h"

    47

#include "master.h"

    48

    49

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

    50

    51

extern const ec_code_msg_t al_status_messages[];

    52

    53

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

    54

    55

int ec_slave_fetch_categories(ec_slave_t *);

    56

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

    59

    60

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

    61

    62

/** \cond */

    63

    64

EC_SYSFS_READ_ATTR(ring_position);

    65

EC_SYSFS_READ_ATTR(coupler_address);

    66

EC_SYSFS_READ_ATTR(vendor_name);

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EC_SYSFS_READ_ATTR(product_name);

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EC_SYSFS_READ_ATTR(product_desc);

    69

EC_SYSFS_READ_ATTR(sii_desc);

    70

EC_SYSFS_READ_ATTR(type);

    72

    73

static struct attribute *def_attrs[] = {

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    &attr_ring_position,

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    &attr_coupler_address,

    76

    &attr_vendor_name,

    77

    &attr_product_name,

    78

    &attr_product_desc,

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    &attr_sii_desc,

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    &attr_type,

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    NULL,

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};

    84

    85

static struct sysfs_ops sysfs_ops = {

    88

};

    89

    90

static struct kobj_type ktype_ec_slave = {

    91

    .release = ec_slave_clear,

    92

    .sysfs_ops = &sysfs_ops,

    93

    .default_attrs = def_attrs

    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

    // init kobject and add it to the hierarchy

   117

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

   118

    kobject_init(&slave->kobj);

   119

    slave->kobj.ktype = &ktype_ec_slave;

   120

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

   121

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

   122

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

   123

        kobject_put(&slave->kobj);

   124

        return -1;

   125

    }

   126

   127

    slave->master = master;

   128

    slave->coupler_index = 0;

   129

    slave->coupler_subindex = 0xFFFF;

   130

    slave->base_type = 0;

   131

    slave->base_revision = 0;

   132

    slave->base_build = 0;

   133

    slave->base_fmmu_count = 0;

   134

    slave->base_sync_count = 0;

   135

    slave->sii_alias = 0;

   136

    slave->sii_vendor_id = 0;

   137

    slave->sii_product_code = 0;

   138

    slave->sii_revision_number = 0;

   139

    slave->sii_serial_number = 0;

   140

    slave->sii_rx_mailbox_offset = 0;

   141

    slave->sii_rx_mailbox_size = 0;

   142

    slave->sii_tx_mailbox_offset = 0;

   143

    slave->sii_tx_mailbox_size = 0;

   144

    slave->sii_mailbox_protocols = 0;

   145

    slave->type = NULL;

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    slave->registered = 0;

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    slave->fmmu_count = 0;

   148

    slave->eeprom_name = NULL;

   149

    slave->eeprom_group = NULL;

   150

    slave->eeprom_desc = NULL;

   151

    slave->requested_state = EC_SLAVE_STATE_UNKNOWN;

   152

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

   153

    slave->state_error = 0;

   154

   155

    ec_command_init(&slave->mbox_command);

   156

   157

    INIT_LIST_HEAD(&slave->eeprom_strings);

   158

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   159

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   160

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   161

   162

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

   163

        slave->dl_link[i] = 0;

   164

        slave->dl_loop[i] = 0;

   165

        slave->dl_signal[i] = 0;

   166

        slave->sii_physical_layer[i] = 0xFF;

   167

    }

   168

   169

    return 0;

   170

}

   171

   172

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

   173

   174

/**

   175

   Slave destructor.

   176

*/

   177

   178

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

   179

{

   180

    ec_slave_t *slave;

   181

    ec_eeprom_string_t *string, *next_str;

   182

    ec_eeprom_sync_t *sync, *next_sync;

   183

    ec_eeprom_pdo_t *pdo, *next_pdo;

   184

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   185

    ec_sdo_t *sdo, *next_sdo;

   186

    ec_sdo_entry_t *en, *next_en;

   187

   188

    slave = container_of(kobj, ec_slave_t, kobj);

   189

   190

    // free all string objects

   191

    list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {

   192

        list_del(&string->list);

   193

        kfree(string);

   194

    }

   195

   196

    // free all sync managers

   197

    list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {

   198

        list_del(&sync->list);

   199

        kfree(sync);

   200

    }

   201

   202

    // free all PDOs

   203

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

   204

        list_del(&pdo->list);

   205

        if (pdo->name) kfree(pdo->name);

   206

   207

        // free all PDO entries

   208

        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

   209

            list_del(&entry->list);

   210

            if (entry->name) kfree(entry->name);

   211

            kfree(entry);

   212

        }

   213

   214

        kfree(pdo);

   215

    }

   216

   217

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

   218

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

   219

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

   220

   221

    // free all SDOs

   222

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

   223

        list_del(&sdo->list);

   224

        if (sdo->name) kfree(sdo->name);

   225

   226

        // free all SDO entries

   227

        list_for_each_entry_safe(en, next_en, &sdo->entries, list) {

   228

            list_del(&en->list);

   229

            kfree(en);

   230

        }

   231

        kfree(sdo);

   232

    }

   233

   234

    ec_command_clear(&slave->mbox_command);

   235

}

   236

   237

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

   238

   239

/**

   240

   Reads all necessary information from a slave.

   241

   \return 0 in case of success, else < 0

   242

*/

   243

   244

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

   245

{

   246

    ec_command_t *command;

   247

    unsigned int i;

   248

    uint16_t dl_status;

   249

   250

    command = &slave->master->simple_command;

   251

   252

    // read base data

   253

    if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;

   254

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

   255

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

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               slave->ring_position);

   257

        return -1;

   258

    }

   259

   260

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

   261

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

   262

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

   263

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

   264

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

   265

   266

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   267

        slave->base_fmmu_count = EC_MAX_FMMUS;

   268

   269

    // read data link status

   270

    if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;

   271

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

   272

        EC_ERR("Reading DL status from slave %i failed!\n",

   273

               slave->ring_position);

   274

        return -1;

   275

    }

   276

   277

    dl_status = EC_READ_U16(command->data);

   278

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

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        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;

   280

        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;

   281

        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;

   282

    }

   283

   284

    // read EEPROM data

   285

    if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))

   286

        return -1;

   287

    if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))

   288

        return -1;

   289

    if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))

   290

        return -1;

   291

    if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))

   292

        return -1;

   293

    if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))

   294

        return -1;

   295

    if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))

   296

        return -1;

   297

    if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))

   298

        return -1;

   299

    if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))

   300

        return -1;

   301

    if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))

   302

        return -1;

   303

    if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))

   304

        return -1;

   305

   306

    if (unlikely(ec_slave_fetch_categories(slave))) {

   307

        EC_ERR("Failed to fetch category data!\n");

   308

        return -1;

   309

    }

   310

   311

    return 0;

   312

}

   313

   314

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

   315

   316

/**

   317

   Reads 16 bit from the slave information interface (SII).

   318

   \return 0 in case of success, else < 0

   319

*/

   320

   321

int ec_slave_sii_read16(ec_slave_t *slave,

   322

                        /**< EtherCAT slave */

   323

                        uint16_t offset,

   324

                        /**< address of the SII register to read */

   325

                        uint16_t *target

   326

                        /**< target memory */

   327

                        )

   328

{

   329

    ec_command_t *command;

   330

    cycles_t start, end, timeout;

   331

   332

    command = &slave->master->simple_command;

   333

   334

    // initiate read operation

   335

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   336

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   337

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   338

    EC_WRITE_U32(command->data + 2, offset);

   339

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

   340

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

   341

        return -1;

   342

    }

   343

   344

    start = get_cycles();

   345

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   346

   347

    while (1)

   348

    {

   349

        udelay(10);

   350

   351

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   352

            return -1;

   353

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

   354

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

   355

                   slave->ring_position);

   356

            return -1;

   357

        }

   358

   359

        end = get_cycles();

   360

   361

        // check for "busy bit"

   362

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

   363

            *target = EC_READ_U16(command->data + 6);

   364

            return 0;

   365

        }

   366

   367

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

   368

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

   369

            return -1;

   370

        }

   371

    }

   372

}

   373

   374

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

   375

   376

/**

   377

   Reads 32 bit from the slave information interface (SII).

   378

   \return 0 in case of success, else < 0

   379

*/

   380

   381

int ec_slave_sii_read32(ec_slave_t *slave,

   382

                        /**< EtherCAT slave */

   383

                        uint16_t offset,

   384

                        /**< address of the SII register to read */

   385

                        uint32_t *target

   386

                        /**< target memory */

   387

                        )

   388

{

   389

    ec_command_t *command;

   390

    cycles_t start, end, timeout;

   391

   392

    command = &slave->master->simple_command;

   393

   394

    // initiate read operation

   395

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   396

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   397

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   398

    EC_WRITE_U32(command->data + 2, offset);

   399

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

   400

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

   401

        return -1;

   402

    }

   403

   404

    start = get_cycles();

   405

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   406

   407

    while (1)

   408

    {

   409

        udelay(10);

   410

   411

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   412

            return -1;

   413

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

   414

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

   415

                   slave->ring_position);

   416

            return -1;

   417

        }

   418

   419

        end = get_cycles();

   420

   421

        // check "busy bit"

   422

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

   423

            *target = EC_READ_U32(command->data + 6);

   424

            return 0;

   425

        }

   426

   427

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

   428

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

   429

            return -1;

   430

        }

   431

    }

   432

}

   433

   434

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

   435

   436

/**

   437

   Writes 16 bit of data to the slave information interface (SII).

   438

   \return 0 in case of success, else < 0

   439

*/

   440

   441

int ec_slave_sii_write16(ec_slave_t *slave,

   442

                         /**< EtherCAT slave */

   443

                         uint16_t offset,

   444

                         /**< address of the SII register to write */

   445

                         uint16_t value

   446

                         /**< new value */

   447

                         )

   448

{

   449

    ec_command_t *command;

   450

    cycles_t start, end, timeout;

   451

   452

    command = &slave->master->simple_command;

   453

   454

    EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",

   455

            slave->ring_position, offset, value);

   456

   457

    // initiate write operation

   458

    if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;

   459

    EC_WRITE_U8 (command->data,     0x01); // enable write access

   460

    EC_WRITE_U8 (command->data + 1, 0x02); // request write operation

   461

    EC_WRITE_U32(command->data + 2, offset);

   462

    EC_WRITE_U16(command->data + 6, value);

   463

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

   464

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

   465

        return -1;

   466

    }

   467

   468

    start = get_cycles();

   469

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   470

   471

    while (1)

   472

    {

   473

        udelay(10);

   474

   475

        if (ec_command_nprd(command, slave->station_address, 0x502, 2))

   476

            return -1;

   477

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

   478

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

   479

                   slave->ring_position);

   480

            return -1;

   481

        }

   482

   483

        end = get_cycles();

   484