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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

    25

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

    26

 *  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

    28

 *  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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 *

    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->jiffies_preop = 0;

   158

   159

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

   160

        slave->dl_link[i] = 0;

   161

        slave->dl_loop[i] = 0;

   162

        slave->dl_signal[i] = 0;

   163

        slave->sii_physical_layer[i] = 0xFF;

   164

    }

   165

   166

    // init kobject and add it to the hierarchy

   167

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

   168

    kobject_init(&slave->kobj);

   169

    slave->kobj.ktype = &ktype_ec_slave;

   170

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

   171

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

   172

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

   173

        goto out_slave_put;

   174

    }

   175

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

   176

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

   177

        goto out_slave_put;

   178

    }

   179

   180

    // init Sdo kobject and add it to the hierarchy

   181

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

   182

    kobject_init(&slave->sdo_kobj);

   183

    slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;

   184

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

   185

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

   186

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

   187

        goto out_sdo_put;

   188

    }

   189

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

   190

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

   191

        goto out_sdo_put;

   192

    }

   193

   194

    return 0;

   195

   196

 out_sdo_put:

   197

    kobject_put(&slave->sdo_kobj);

   198

    kobject_del(&slave->kobj);

   199

 out_slave_put:

   200

    kobject_put(&slave->kobj);

   201

    return -1;

   202

}

   203

   204

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

   205

   206

/**

   207

   Slave destructor.

   208

   Clears and frees a slave object.

   209

*/

   210

   211

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

   212

{

   213

    ec_sdo_t *sdo, *next_sdo;

   214

   215

    if (slave->config)

   216

        ec_slave_config_detach(slave->config);

   217

   218

    // free all Sdos

   219

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

   220

        list_del(&sdo->list);

   221

        ec_sdo_destroy(sdo);

   222

    }

   223

   224

    // free Sdo kobject

   225

    kobject_del(&slave->sdo_kobj);

   226

    kobject_put(&slave->sdo_kobj);

   227

   228

    // destroy self

   229

    kobject_del(&slave->kobj);

   230

    kobject_put(&slave->kobj);

   231

}

   232

   233

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

   234

   235

/**

   236

   Clear and free slave.

   237

   This method is called by the kobject,

   238

   once there are no more references to it.

   239

*/

   240

   241

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

   242

{

   243

    ec_slave_t *slave;

   244

    ec_pdo_t *pdo, *next_pdo;

   245

    unsigned int i;

   246

   247

    slave = container_of(kobj, ec_slave_t, kobj);

   248

   249

    // free all strings

   250

    if (slave->sii_strings) {

   251

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

   252

            kfree(slave->sii_strings[i]);

   253

        kfree(slave->sii_strings);

   254

    }

   255

   256

    // free all sync managers

   257

    if (slave->sii_syncs) {

   258

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

   259

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

   260

        }

   261

        kfree(slave->sii_syncs);

   262

    }

   263

   264

    // free all SII Pdos

   265

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

   266

        list_del(&pdo->list);

   267

        ec_pdo_clear(pdo);

   268

        kfree(pdo);

   269

    }

   270

   271

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

   272

   273

    kfree(slave);

   274

}

   275

   276

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

   277

   278

/**

   279

 * Sdo kobject clear method.

   280

 */

   281

   282

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

   283

{

   284

}

   285

   286

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

   287

   288

/**

   289

 * Sets the application state of a slave.

   290

 */

   291

   292

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

   293

        ec_slave_state_t new_state /**< new application state */

   294

        )

   295

{

   296

    if (new_state != slave->current_state) {

   297

        if (slave->master->debug_level) {

   298

            char old_state[EC_STATE_STRING_SIZE],

   299

                cur_state[EC_STATE_STRING_SIZE];

   300

            ec_state_string(slave->current_state, old_state);

   301

            ec_state_string(new_state, cur_state);

   302

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

   303

                   slave->ring_position, old_state, cur_state);

   304

        }

   305

        slave->current_state = new_state;

   306

    }

   307

}

   308

   309

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

   310

   311

/**

   312

 * Sets the online state of a slave.

   313

 */

   314

   315

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

   316

        ec_slave_online_state_t new_state /**< new online state */

   317

        )

   318

{

   319

    if (new_state == EC_SLAVE_OFFLINE &&

   320

            slave->online_state == EC_SLAVE_ONLINE) {

   321

        if (slave->master->debug_level)

   322

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

   323

    }

   324

    else if (new_state == EC_SLAVE_ONLINE &&

   325

            slave->online_state == EC_SLAVE_OFFLINE) {

   326

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

   327

        if (slave->master->debug_level) {

   328

            char cur_state[EC_STATE_STRING_SIZE];

   329

            ec_state_string(slave->current_state, cur_state);

   330

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

   331

                   slave->ring_position, cur_state);

   332

        }

   333

    }

   334

   335

    slave->online_state = new_state;

   336

}

   337

   338

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

   339

   340

/**

   341

 * Request a slave state and resets the error flag.

   342

 */

   343

   344

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

   345

                            ec_slave_state_t state /**< new state */

   346

                            )

   347

{

   348

    slave->requested_state = state;

   349

    slave->error_flag = 0;

   350

}

   351

   352

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

   353

   354

/**

   355

   Fetches data from a STRING category.

   356

   \todo range checking

   357

   \return 0 in case of success, else < 0

   358

*/

   359

   360

int ec_slave_fetch_sii_strings(

   361

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

   362

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

   363

        size_t data_size /**< number of bytes */

   364

        )

   365

{

   366

    int i;

   367

    size_t size;

   368

    off_t offset;

   369

   370

    slave->sii_string_count = data[0];

   371

   372

    if (!slave->sii_string_count)

   373

        return 0;

   374

   375

    if (!(slave->sii_strings =

   376

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

   377

                    GFP_KERNEL))) {

   378

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

   379

        goto out_zero;

   380

    }

   381

   382

    offset = 1;

   383

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

   384

        size = data[offset];

   385

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

   386

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

   387

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

   388

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

   389

            goto out_free;

   390

        }

   391

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

   392

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

   393

        offset += 1 + size;

   394

    }

   395

   396

    return 0;

   397

   398

out_free:

   399

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

   400

    kfree(slave->sii_strings);

   401

    slave->sii_strings = NULL;

   402

out_zero:

   403

    slave->sii_string_count = 0;

   404

    return -1;

   405

}

   406

   407

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

   408

   409

/**

   410

   Fetches data from a GENERAL category.

   411

   \return 0 in case of success, else < 0

   412

*/

   413

   414

int ec_slave_fetch_sii_general(

   415

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

   416

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

   417

        size_t data_size /**< size in bytes */

   418

        )

   419

{

   420

    unsigned int i;

   421

   422

    if (data_size != 32) {

   423

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

   424

                data_size, slave->ring_position);

   425

        return -1;

   426

    }

   427

   428

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

   429

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

   430

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

   431

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

   432

   433

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

   434

        slave->sii_physical_layer[i] =

   435

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

   436

   437

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

   438

   439

    return 0;

   440

}

   441

   442

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

   443

   444

/**

   445

   Fetches data from a SYNC MANAGER category.

   446

   \return 0 in case of success, else < 0

   447

*/

   448

   449

int ec_slave_fetch_sii_syncs(

   450

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

   451

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

   452

        size_t data_size /**< number of bytes */

   453

        )

   454

{

   455

    unsigned int i;

   456

    ec_sync_t *sync;

   457

    size_t memsize;

   458

   459

    // one sync manager struct is 4 words long

   460

    if (data_size % 8) {

   461

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

   462

                data_size, slave->ring_position);

   463

        return -1;

   464

    }

   465

   466

    slave->sii_sync_count = data_size / 8;

   467

   468

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

   469

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

   470

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

   471

                memsize);

   472

        slave->sii_sync_count = 0;

   473

        return -1;

   474

    }

   475

   476

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

   477

        sync = &slave->sii_syncs[i];

   478

   479

        ec_sync_init(sync, slave, i);

   480

        sync->physical_start_address = EC_READ_U16(data);

   481

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

   482

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

   483

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

   484

    }

   485

   486