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

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

    23

 *  the industrial property and similar rights of Beckhoff Automation GmbH.

    24

 *

    25

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

    26

    27

/**

    28

   \file

    29

   EtherCAT slave methods.

    30

*/

    31

    32

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

    33

    34

#include <linux/module.h>

    35

#include <linux/delay.h>

    36

    37

#include "globals.h"

    38

#include "datagram.h"

    39

#include "master.h"

    40

#include "slave_config.h"

    41

    42

#include "slave.h"

    43

    44

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

    45

    46

extern const ec_code_msg_t al_status_messages[];

    47

    48

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

    49

    50

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    51

    52

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

    53

    54

/**

    55

   Slave constructor.

    56

   \return 0 in case of success, else < 0

    57

*/

    58

    59

void ec_slave_init(

    60

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

    61

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

    62

        uint16_t ring_position, /**< ring position */

    63

        uint16_t station_address /**< station address to configure */

    64

        )

    65

{

    66

    unsigned int i;

    67

    68

    slave->master = master;

    69

    slave->ring_position = ring_position;

    70

    slave->station_address = station_address;

    71

    72

    slave->config = NULL;

    73

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    74

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    75

    slave->error_flag = 0;

    76

    slave->force_config = 0;

    77

    slave->configured_rx_mailbox_offset = 0x0000;

    78

    slave->configured_rx_mailbox_size = 0x0000;

    79

    slave->configured_tx_mailbox_offset = 0x0000;

    80

    slave->configured_tx_mailbox_size = 0x0000;

    81

    82

    slave->base_type = 0;

    83

    slave->base_revision = 0;

    84

    slave->base_build = 0;

    85

    slave->base_fmmu_count = 0;

    86

    87

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

    88

        slave->ports[i].dl_link = 0;

    89

        slave->ports[i].dl_loop = 0;

    90

        slave->ports[i].dl_signal = 0;

    91

        slave->sii.physical_layer[i] = 0xFF;

    92

    }

    93

    94

    slave->sii_words = NULL;

    95

    slave->sii_nwords = 0;

    96

    97

    slave->sii.alias = 0x0000;

    98

    slave->sii.vendor_id = 0x00000000;

    99

    slave->sii.product_code = 0x00000000;

   100

    slave->sii.revision_number = 0x00000000;

   101

    slave->sii.serial_number = 0x00000000;

   102

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   103

    slave->sii.boot_rx_mailbox_size = 0x0000;

   104

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   105

    slave->sii.boot_tx_mailbox_size = 0x0000;

   106

    slave->sii.std_rx_mailbox_offset = 0x0000;

   107

    slave->sii.std_rx_mailbox_size = 0x0000;

   108

    slave->sii.std_tx_mailbox_offset = 0x0000;

   109

    slave->sii.std_tx_mailbox_size = 0x0000;

   110

    slave->sii.mailbox_protocols = 0;

   111

   112

    slave->sii.strings = NULL;

   113

    slave->sii.string_count = 0;

   114

   115

    slave->sii.has_general = 0;

   116

    slave->sii.group = NULL;

   117

    slave->sii.image = NULL;

   118

    slave->sii.order = NULL;

   119

    slave->sii.name = NULL;

   120

    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));

   121

    memset(&slave->sii.general_flags, 0x00, sizeof(ec_sii_general_flags_t));

   122

    slave->sii.current_on_ebus = 0;

   123

   124

    slave->sii.syncs = NULL;

   125

    slave->sii.sync_count = 0;

   126

   127

    INIT_LIST_HEAD(&slave->sii.pdos);

   128

   129

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   130

   131

    slave->sdo_dictionary_fetched = 0;

   132

    slave->jiffies_preop = 0;

   133

}

   134

   135

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

   136

   137

/**

   138

   Slave destructor.

   139

   Clears and frees a slave object.

   140

*/

   141

   142

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

   143

{

   144

    ec_sdo_t *sdo, *next_sdo;

   145

    unsigned int i;

   146

    ec_pdo_t *pdo, *next_pdo;

   147

   148

    if (slave->config)

   149

        ec_slave_config_detach(slave->config);

   150

   151

    // free all SDOs

   152

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

   153

        list_del(&sdo->list);

   154

        ec_sdo_clear(sdo);

   155

        kfree(sdo);

   156

    }

   157

   158

    // free all strings

   159

    if (slave->sii.strings) {

   160

        for (i = 0; i < slave->sii.string_count; i++)

   161

            kfree(slave->sii.strings[i]);

   162

        kfree(slave->sii.strings);

   163

    }

   164

   165

    // free all sync managers

   166

    ec_slave_clear_sync_managers(slave);

   167

   168

    // free all SII PDOs

   169

    list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {

   170

        list_del(&pdo->list);

   171

        ec_pdo_clear(pdo);

   172

        kfree(pdo);

   173

    }

   174

   175

    if (slave->sii_words)

   176

        kfree(slave->sii_words);

   177

}

   178

   179

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

   180

   181

/** Clear the sync manager array. 

   182

 */

   183

void ec_slave_clear_sync_managers(ec_slave_t *slave /**< EtherCAT slave. */)

   184

{

   185

    unsigned int i;

   186

   187

    if (slave->sii.syncs) {

   188

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

   189

            ec_sync_clear(&slave->sii.syncs[i]);

   190

        }

   191

        kfree(slave->sii.syncs);

   192

        slave->sii.syncs = NULL;

   193

    }

   194

}

   195

   196

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

   197

   198

/**

   199

 * Sets the application state of a slave.

   200

 */

   201

   202

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

   203

        ec_slave_state_t new_state /**< new application state */

   204

        )

   205

{

   206

    if (new_state != slave->current_state) {

   207

        if (slave->master->debug_level) {

   208

            char old_state[EC_STATE_STRING_SIZE],

   209

                cur_state[EC_STATE_STRING_SIZE];

   210

            ec_state_string(slave->current_state, old_state, 0);

   211

            ec_state_string(new_state, cur_state, 0);

   212

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

   213

                   slave->ring_position, old_state, cur_state);

   214

        }

   215

        slave->current_state = new_state;

   216

    }

   217

}

   218

   219

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

   220

   221

/**

   222

 * Request a slave state and resets the error flag.

   223

 */

   224

   225

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

   226

                            ec_slave_state_t state /**< new state */

   227

                            )

   228

{

   229

    slave->requested_state = state;

   230

    slave->error_flag = 0;

   231

}

   232

   233

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

   234

   235

/**

   236

   Fetches data from a STRING category.

   237

   \todo range checking

   238

   \return 0 in case of success, else < 0

   239

*/

   240

   241

int ec_slave_fetch_sii_strings(

   242

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

   243

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

   244

        size_t data_size /**< number of bytes */

   245

        )

   246

{

   247

    int i, err;

   248

    size_t size;

   249

    off_t offset;

   250

   251

    slave->sii.string_count = data[0];

   252

   253

    if (slave->sii.string_count) {

   254

        if (!(slave->sii.strings =

   255

                    kmalloc(sizeof(char *) * slave->sii.string_count,

   256

                        GFP_KERNEL))) {

   257

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

   258

            err = -ENOMEM;

   259

            goto out_zero;

   260

        }

   261

   262

        offset = 1;

   263

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

   264

            size = data[offset];

   265

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

   266

            if (!(slave->sii.strings[i] =

   267

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

   268

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

   269

                err = -ENOMEM;

   270

                goto out_free;

   271

            }

   272

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

   273

            slave->sii.strings[i][size] = 0x00; // append binary zero

   274

            offset += 1 + size;

   275

        }

   276

    }

   277

   278

    return 0;

   279

   280

out_free:

   281

    for (i--; i >= 0; i--)

   282

        kfree(slave->sii.strings[i]);

   283

    kfree(slave->sii.strings);

   284

    slave->sii.strings = NULL;

   285

out_zero:

   286

    slave->sii.string_count = 0;

   287

    return err;

   288

}

   289

   290

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

   291

   292

/**

   293

   Fetches data from a GENERAL category.

   294

   \return 0 in case of success, else < 0

   295

*/

   296

   297

int ec_slave_fetch_sii_general(

   298

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

   299

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

   300

        size_t data_size /**< size in bytes */

   301

        )

   302

{

   303

    unsigned int i;

   304

    uint8_t flags;

   305

   306

    if (data_size != 32) {

   307

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

   308

                data_size, slave->ring_position);

   309

        return -EINVAL;

   310

    }

   311

   312

    slave->sii.group = ec_slave_sii_string(slave, data[0]);

   313

    slave->sii.image = ec_slave_sii_string(slave, data[1]);

   314

    slave->sii.order = ec_slave_sii_string(slave, data[2]);

   315

    slave->sii.name = ec_slave_sii_string(slave, data[3]);

   316

   317

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

   318

        slave->sii.physical_layer[i] =

   319

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

   320

   321

    // read CoE details

   322

    flags = EC_READ_U8(data + 5);

   323

    slave->sii.coe_details.enable_sdo =                 (flags >> 0) & 0x01;

   324

    slave->sii.coe_details.enable_sdo_info =            (flags >> 1) & 0x01;

   325

    slave->sii.coe_details.enable_pdo_assign =          (flags >> 2) & 0x01;

   326

    slave->sii.coe_details.enable_pdo_configuration =   (flags >> 3) & 0x01;

   327

    slave->sii.coe_details.enable_upload_at_startup =   (flags >> 4) & 0x01;

   328

    slave->sii.coe_details.enable_sdo_complete_access = (flags >> 5) & 0x01;

   329

   330

    // read general flags

   331

    flags = EC_READ_U8(data + 0x000B);

   332

    slave->sii.general_flags.enable_safeop =  (flags >> 0) & 0x01;

   333

    slave->sii.general_flags.enable_not_lrw = (flags >> 1) & 0x01;

   334

   335

    slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);

   336

    slave->sii.has_general = 1;

   337

    return 0;

   338

}

   339

   340

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

   341

   342

/** Fetches data from a SYNC MANAGER category.

   343

 *

   344

 * Appends the sync managers described in the category to the existing ones.

   345

 *

   346

 * \return 0 in case of success, else < 0

   347

 */

   348

int ec_slave_fetch_sii_syncs(

   349

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

   350

        const uint8_t *data, /**< Category data. */

   351

        size_t data_size /**< Number of bytes. */

   352

        )

   353

{

   354

    unsigned int i, count, total_count;

   355

    ec_sync_t *sync;

   356

    size_t memsize;

   357

    ec_sync_t *syncs;

   358

    uint8_t index;

   359

   360

    // one sync manager struct is 4 words long

   361

    if (data_size % 8) {

   362

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

   363

                data_size, slave->ring_position);

   364

        return -EINVAL;

   365

    }

   366

   367

    count = data_size / 8;

   368

   369

    if (count) {

   370

        total_count = count + slave->sii.sync_count;

   371

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   372

            EC_ERR("Exceeded maximum number of sync managers!\n");

   373

            return -EOVERFLOW;

   374

        }

   375

        memsize = sizeof(ec_sync_t) * total_count;

   376

        if (!(syncs = kmalloc(memsize, GFP_KERNEL))) {

   377

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

   378

                    memsize);

   379

            return -ENOMEM;

   380

        }

   381

   382

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

   383

            ec_sync_init_copy(syncs + i, slave->sii.syncs + i);

   384

   385

        // initialize new sync managers

   386

        for (i = 0; i < count; i++, data += 8) {

   387

            index = i + slave->sii.sync_count;

   388

            sync = &syncs[index];

   389

   390

            ec_sync_init(sync, slave);

   391

            sync->physical_start_address = EC_READ_U16(data);

   392

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

   393

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

   394

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

   395

        }

   396

   397

        if (slave->sii.syncs)

   398

            kfree(slave->sii.syncs);

   399

        slave->sii.syncs = syncs;

   400

        slave->sii.sync_count = total_count;

   401

    }

   402

   403

    return 0;

   404

}

   405

   406

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

   407

   408

/**

   409

   Fetches data from a [RT]xPDO category.

   410

   \return 0 in case of success, else < 0

   411

*/

   412

   413

int ec_slave_fetch_sii_pdos(

   414

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

   415

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

   416

        size_t data_size, /**< number of bytes */

   417

        ec_direction_t dir /**< PDO direction. */

   418

        )

   419

{

   420

    int ret;

   421

    ec_pdo_t *pdo;

   422

    ec_pdo_entry_t *entry;

   423

    unsigned int entry_count, i;

   424

   425

    while (data_size >= 8) {

   426

        if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {

   427

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

   428

            return -ENOMEM;

   429

        }

   430

   431

        ec_pdo_init(pdo);

   432

        pdo->index = EC_READ_U16(data);

   433

        entry_count = EC_READ_U8(data + 2);

   434

        pdo->sync_index = EC_READ_U8(data + 3);

   435

        ret = ec_pdo_set_name(pdo,

   436

                ec_slave_sii_string(slave, EC_READ_U8(data + 5)));

   437

        if (ret) {

   438

            ec_pdo_clear(pdo);

   439

            kfree(pdo);

   440

            return ret;

   441

        }

   442

        list_add_tail(&pdo->list, &slave->sii.pdos);

   443

   444

        data_size -= 8;

   445

        data += 8;

   446

   447

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

   448

            if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {

   449

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

   450

                return -ENOMEM;

   451

            }

   452

   453

            ec_pdo_entry_init(entry);

   454

            entry->index = EC_READ_U16(data);

   455

            entry->subindex = EC_READ_U8(data + 2);

   456

            ret = ec_pdo_entry_set_name(entry,

   457

                    ec_slave_sii_string(slave, EC_READ_U8(data + 3)));

   458

            if (ret) {

   459

                ec_pdo_entry_clear(entry);

   460

                kfree(entry);

   461

                return ret;

   462

            }

   463

            entry->bit_length = EC_READ_U8(data + 5);

   464

            list_add_tail(&entry->list, &pdo->entries);

   465

   466

            data_size -= 8;

   467

            data += 8;

   468

        }

   469

   470

        // if sync manager index is positive, the PDO is mapped by default

   471

        if (pdo->sync_index >= 0) {

   472

            ec_sync_t *sync;

   473

   474

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

   475

                EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",

   476

                        pdo->sync_index, pdo->index, slave->ring_position);

   477

                return -ENOENT;

   478

            }

   479

   480

            ret = ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);

   481

            if (ret)

   482

                return ret;

   483

        }