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

     2

 *

     3

 *  $Id$

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 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  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 and/or

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

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 *  published by the Free Software Foundation.

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 *

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

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

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

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 *  Public License for more details.

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 *

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

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

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

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 *

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

    26

    27

/**

    28

   \file

    29

   EtherCAT slave configuration methods.

    30

*/

    31

    32

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

    33

    34

#include <linux/slab.h>

    35

    36

#include "globals.h"

    37

#include "master.h"

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#include "voe_handler.h"

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    40

#include "slave_config.h"

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    42

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

    43

    44

/** Slave configuration constructor.

    45

 *

    46

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

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 * position parameters.

    48

 */

    49

void ec_slave_config_init(

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

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

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

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

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

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

    56

        )

    57

{

    58

    unsigned int i;

    59

    60

    sc->master = master;

    61

    sc->alias = alias;

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    sc->position = position;

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    sc->vendor_id = vendor_id;

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    sc->product_code = product_code;

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    sc->slave = NULL;

    66

    67

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

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

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    70

    INIT_LIST_HEAD(&sc->sdo_configs);

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    INIT_LIST_HEAD(&sc->sdo_requests);

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    INIT_LIST_HEAD(&sc->voe_handlers);

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    74

    sc->used_fmmus = 0;

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}

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    77

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

    78

    79

/** Slave configuration destructor.

    80

 *

    81

 * Clears and frees a slave configuration object.

    82

 */

    83

void ec_slave_config_clear(

    84

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

    85

        )

    86

{

    87

    unsigned int i;

    88

    ec_sdo_request_t *req, *next_req;

    89

    ec_voe_handler_t *voe, *next_voe;

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    ec_slave_config_detach(sc);

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    93

    // Free sync managers

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

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

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    97

    // free all SDO configurations

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

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        list_del(&req->list);

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        ec_sdo_request_clear(req);

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        kfree(req);

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    }

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    // free all SDO requests

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

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        list_del(&req->list);

   107

        ec_sdo_request_clear(req);

   108

        kfree(req);

   109

    }

   110

   111

    // free all VoE handlers

   112

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

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        list_del(&voe->list);

   114

        ec_voe_handler_clear(voe);

   115

        kfree(voe);

   116

    }

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}

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   119

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

   120

   121

/** Prepares an FMMU configuration.

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 *

   123

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

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

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

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

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

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 * returns with success.

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 *

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

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 * \retval  <0 Error code.

   132

 */

   133

int ec_slave_config_prepare_fmmu(

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

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

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

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        ec_direction_t dir /**< PDO direction. */

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        )

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{

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    unsigned int i;

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    ec_fmmu_config_t *fmmu;

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    // FMMU configuration already prepared?

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

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        fmmu = &sc->fmmu_configs[i];

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

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            return fmmu->logical_start_address;

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    }

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    if (sc->used_fmmus == EC_MAX_FMMUS) {

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

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                sc->alias, sc->position);

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        return -EOVERFLOW;

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    }

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

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   158

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

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

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

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    return fmmu->logical_start_address;

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}

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

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

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 *

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 * \retval  0 Success.

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 * \retval <0 Error code.

   171

 */

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int ec_slave_config_attach(

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

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        )

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{

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	ec_slave_t *slave;

   177

   178

	if (sc->slave)

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		return 0; // already attached

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    if (!(slave = ec_master_find_slave(

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

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        if (sc->master->debug_level)

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

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                    sc->alias, sc->position);

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        return -ENOENT;

   187

    }

   188

   189

	if (slave->config) {

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        if (sc->master->debug_level)

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

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

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                    sc->position, slave->ring_position);

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        return -EEXIST;

   195

    }

   196

   197

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

   198

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

   199

        if (sc->master->debug_level)

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

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

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

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

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                    sc->vendor_id, sc->product_code);

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        return -EINVAL;

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	}

   207

   208

	// attach slave

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	slave->config = sc;

   210

	sc->slave = slave;

   211

   212

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

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   214

    if (sc->master->debug_level)

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

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

   217

   218

	return 0;

   219

}

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   221

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

   222

   223

/** Detaches the configuration from a slave object.

   224

 */

   225

void ec_slave_config_detach(

   226

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

   227

        )

   228

{

   229

    if (sc->slave) {

   230

        sc->slave->config = NULL;

   231

        sc->slave = NULL;

   232

    }

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}

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   235

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

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

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 */

   239

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   240

{

   241

    uint8_t sync_index;

   242

    ec_sync_config_t *sync_config;

   243

    const ec_sync_t *sync;

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   245

    if (!sc->slave)

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        return;

   247

   248

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

   249

        sync_config = &sc->sync_configs[sync_index];

   250

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

   251

            sync_config->dir = ec_sync_default_direction(sync);

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            if (sync_config->dir == EC_DIR_INVALID)

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

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                        sync_index, sc->slave->ring_position);

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

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        }

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    }

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}

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

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

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 */

   264

void ec_slave_config_load_default_mapping(

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        const ec_slave_config_t *sc,

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        ec_pdo_t *pdo

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        )

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{

   269

    unsigned int i;

   270

    const ec_sync_t *sync;

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    const ec_pdo_t *default_pdo;

   272

   273

    if (!sc->slave)

   274

        return;

   275

   276

    if (sc->master->debug_level)

   277

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

   278

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

   279

   280

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

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

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

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

   285

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

   286

                continue;

   287

   288

            if (default_pdo->name) {

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                if (sc->master->debug_level)

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

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                // take PDO name from assigned one

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                ec_pdo_set_name(pdo, default_pdo->name);

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            }

   295

   296

            // copy entries (= default PDO mapping)

   297

            if (ec_pdo_copy_entries(pdo, default_pdo))

   298

                return;

   299

   300

            if (sc->master->debug_level) {

   301

                const ec_pdo_entry_t *entry;

   302

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

   303

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

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                            entry->index, entry->subindex);

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                }

   306

            }

   307

   308

            return;

   309

        }

   310

    }

   311

   312

    if (sc->master->debug_level)

   313

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

   314

}

   315

   316

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

   317

   318

/** Get the number of SDO configurations.

   319

 *

   320

 * \return Number of SDO configurations.

   321

 */

   322

unsigned int ec_slave_config_sdo_count(

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

   324

        )

   325

{

   326

	const ec_sdo_request_t *req;

   327

	unsigned int count = 0;

   328

   329

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

   330

		count++;

   331

	}

   332

   333

	return count;

   334

}

   335

   336

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

   337

   338

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

   339

 *

   340

 * Const version.

   341

 */

   342

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   343

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

   344

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

   345

        )

   346

{

   347

    const ec_sdo_request_t *req;

   348

   349

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

   350

        if (pos--)

   351

            continue;

   352

        return req;

   353

    }

   354

   355

    return NULL;

   356

}

   357

   358

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

   359

   360

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

   361

 */

   362

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   363

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

   364

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

   365

        )

   366

{

   367

    ec_voe_handler_t *voe;

   368

   369

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

   370

        if (pos--)

   371

            continue;

   372

        return voe;

   373

    }

   374

   375

    return NULL;

   376

}

   377

   378

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

   379

 *  Realtime interface

   380

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

   381

   382

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

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        ec_direction_t dir)

   384

{

   385

    ec_sync_config_t *sync_config;

   386

   387

    if (sc->master->debug_level)

   388

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

   389

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

   390

   391

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   392

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

   393

        return -ENOENT;

   394

    }

   395

   396

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

   397

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

   398

        return -EINVAL;

   399

    }

   400

   401

    sync_config = &sc->sync_configs[sync_index];

   402

    sync_config->dir = dir;

   403

    return 0;

   404

}

   405

   406

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

   407

   408

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   409

        uint8_t sync_index, uint16_t pdo_index)

   410

{

   411

    ec_pdo_t *pdo;

   412

   413

    if (sc->master->debug_level)

   414

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

   415

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

   416

   417

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   418

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

   419

        return -EINVAL;

   420

    }

   421

   422

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

   423

   424

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

   425

    if (IS_ERR(pdo)) {

   426

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

   427

        return PTR_ERR(pdo);

   428

    }

   429

    pdo->sync_index = sync_index;

   430

   431

    ec_slave_config_load_default_mapping(sc, pdo);

   432

   433

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

   434

    return 0;

   435

}

   436

   437

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

   438

   439

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   440

        uint8_t sync_index)

   441

{

   442

    if (sc->master->debug_level)

   443

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

   444

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

   445

   446

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   447

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

   448

        return;

   449

    }

   450

   451

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

   452

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

   453

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

   454

}

   455

   456

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

   457

   458

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   459

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   460

        uint8_t entry_bit_length)

   461

{

   462

    uint8_t sync_index;

   463

    ec_pdo_t *pdo = NULL;

   464

    ec_pdo_entry_t *entry;

   465

    int retval = 0;

   466

   467

    if (sc->master->debug_level)

   468

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

   469

                "pdo_index = 0x%04X, entry_index = 0x%04X, "

   470

                "entry_subindex = 0x%02X, entry_bit_length = %u)\n",

   471

                (u32) sc, pdo_index, entry_index, entry_subindex,

   472

                entry_bit_length);

   473

   474

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

   475

        if ((pdo = ec_pdo_list_find_pdo(

   476

                        &sc->sync_configs[sync_index].pdos, pdo_index)))

   477

            break;

   478

   479

    if (pdo) {

   480

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

   481

        entry = ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   482

                entry_bit_length);

   483

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

   484

        if (IS_ERR(entry))

   485

            retval = PTR_ERR(entry);

   486

    } else {

   487

        EC_ERR("PDO 0x%04X is not assigned in config %u:%u.\n",

   488

                pdo_index, sc->alias, sc->position);

   489

        retval = -ENOENT; 

   490

    }

   491

   492

    return retval;

   493

}

   494

   495

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

   496