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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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

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 *  published by the Free Software Foundation.

    12

 *

    13

 *  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

    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

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

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT slave methods.

    33

*/

    34

    35

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

    36

    37

#include <linux/module.h>

    38

#include <linux/delay.h>

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "master.h"

    43

#include "slave_config.h"

    44

    45

#include "slave.h"

    46

    47

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

    48

    49

extern const ec_code_msg_t al_status_messages[];

    50

    51

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

    52

    53

char *ec_slave_sii_string(ec_slave_t *, unsigned int);

    54

    55

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

    56

    57

/**

    58

   Slave constructor.

    59

   \return 0 in case of success, else < 0

    60

*/

    61

    62

void ec_slave_init(

    63

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

    64

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

    65

        ec_device_index_t dev_idx, /**< Device index. */

    66

        uint16_t ring_position, /**< ring position */

    67

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

    68

        )

    69

{

    70

    unsigned int i;

    71

    int ret;

    72

    73

    slave->master = master;

    74

    slave->device_index = dev_idx;

    75

    slave->ring_position = ring_position;

    76

    slave->station_address = station_address;

    77

    slave->effective_alias = 0x0000;

    78

    79

    slave->config = NULL;

    80

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    81

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    82

    slave->error_flag = 0;

    83

    slave->force_config = 0;

    84

    slave->configured_rx_mailbox_offset = 0x0000;

    85

    slave->configured_rx_mailbox_size = 0x0000;

    86

    slave->configured_tx_mailbox_offset = 0x0000;

    87

    slave->configured_tx_mailbox_size = 0x0000;

    88

    89

    slave->base_type = 0;

    90

    slave->base_revision = 0;

    91

    slave->base_build = 0;

    92

    slave->base_fmmu_count = 0;

    93

    slave->base_sync_count = 0;

    94

    95

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

    96

        slave->ports[i].desc = EC_PORT_NOT_IMPLEMENTED;

    97

    98

        slave->ports[i].link.link_up = 0;

    99

        slave->ports[i].link.loop_closed = 0;

   100

        slave->ports[i].link.signal_detected = 0;

   101

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

   102

   103

        slave->ports[i].receive_time = 0U;

   104

   105

        slave->ports[i].next_slave = NULL;

   106

        slave->ports[i].delay_to_next_dc = 0U;

   107

    }

   108

   109

    slave->base_fmmu_bit_operation = 0;

   110

    slave->base_dc_supported = 0;

   111

    slave->base_dc_range = EC_DC_32;

   112

    slave->has_dc_system_time = 0;

   113

    slave->transmission_delay = 0U;

   114

   115

    slave->sii_words = NULL;

   116

    slave->sii_nwords = 0;

   117

   118

    slave->sii.alias = 0x0000;

   119

    slave->sii.vendor_id = 0x00000000;

   120

    slave->sii.product_code = 0x00000000;

   121

    slave->sii.revision_number = 0x00000000;

   122

    slave->sii.serial_number = 0x00000000;

   123

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   124

    slave->sii.boot_rx_mailbox_size = 0x0000;

   125

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   126

    slave->sii.boot_tx_mailbox_size = 0x0000;

   127

    slave->sii.std_rx_mailbox_offset = 0x0000;

   128

    slave->sii.std_rx_mailbox_size = 0x0000;

   129

    slave->sii.std_tx_mailbox_offset = 0x0000;

   130

    slave->sii.std_tx_mailbox_size = 0x0000;

   131

    slave->sii.mailbox_protocols = 0;

   132

   133

    slave->sii.strings = NULL;

   134

    slave->sii.string_count = 0;

   135

   136

    slave->sii.has_general = 0;

   137

    slave->sii.group = NULL;

   138

    slave->sii.image = NULL;

   139

    slave->sii.order = NULL;

   140

    slave->sii.name = NULL;

   141

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

   142

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

   143

    slave->sii.current_on_ebus = 0;

   144

   145

    slave->sii.syncs = NULL;

   146

    slave->sii.sync_count = 0;

   147

   148

    INIT_LIST_HEAD(&slave->sii.pdos);

   149

   150

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   151

   152

    slave->sdo_dictionary_fetched = 0;

   153

    slave->jiffies_preop = 0;

   154

   155

    INIT_LIST_HEAD(&slave->slave_sdo_requests);

   156

    init_waitqueue_head(&slave->sdo_queue);

   157

   158

    INIT_LIST_HEAD(&slave->reg_requests);

   159

    init_waitqueue_head(&slave->reg_queue);

   160

   161

    INIT_LIST_HEAD(&slave->foe_requests);

   162

    init_waitqueue_head(&slave->foe_queue);

   163

   164

    INIT_LIST_HEAD(&slave->soe_requests);

   165

    init_waitqueue_head(&slave->soe_queue);

   166

   167

    // init state machine datagram

   168

    ec_datagram_init(&slave->fsm_datagram);

   169

    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE,

   170

            "slave%u-fsm", slave->ring_position);

   171

    ret = ec_datagram_prealloc(&slave->fsm_datagram, EC_MAX_DATA_SIZE);

   172

    if (ret < 0) {

   173

        ec_datagram_clear(&slave->fsm_datagram);

   174

        EC_SLAVE_ERR(slave, "Failed to allocate FSM datagram.\n");

   175

        return;

   176

    }

   177

   178

    // create state machine object

   179

    ec_fsm_slave_init(&slave->fsm, slave, &slave->fsm_datagram);

   180

}

   181

   182

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

   183

   184

/**

   185

   Slave destructor.

   186

   Clears and frees a slave object.

   187

*/

   188

   189

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

   190

{

   191

    ec_sdo_t *sdo, *next_sdo;

   192

    unsigned int i;

   193

    ec_pdo_t *pdo, *next_pdo;

   194

   195

    // abort all pending requests

   196

   197

    while (!list_empty(&slave->slave_sdo_requests)) {

   198

        ec_master_sdo_request_t *request =

   199

            list_entry(slave->slave_sdo_requests.next,

   200

                ec_master_sdo_request_t, list);

   201

        list_del_init(&request->list); // dequeue

   202

        EC_SLAVE_WARN(slave, "Discarding SDO request,"

   203

                " slave about to be deleted.\n");

   204

        request->req.state = EC_INT_REQUEST_FAILURE;

   205

        wake_up(&slave->sdo_queue);

   206

    }

   207

   208

    while (!list_empty(&slave->reg_requests)) {

   209

        ec_reg_request_t *reg =

   210

            list_entry(slave->reg_requests.next, ec_reg_request_t, list);

   211

        list_del_init(&reg->list); // dequeue

   212

        EC_SLAVE_WARN(slave, "Discarding register request,"

   213

                " slave about to be deleted.\n");

   214

        reg->state = EC_INT_REQUEST_FAILURE;

   215

        wake_up(&slave->reg_queue);

   216

    }

   217

   218

    while (!list_empty(&slave->foe_requests)) {

   219

        ec_master_foe_request_t *request =

   220

            list_entry(slave->foe_requests.next,

   221

                ec_master_foe_request_t, list);

   222

        list_del_init(&request->list); // dequeue

   223

        EC_SLAVE_WARN(slave, "Discarding FoE request,"

   224

                " slave about to be deleted.\n");

   225

        request->req.state = EC_INT_REQUEST_FAILURE;

   226

        wake_up(&slave->foe_queue);

   227

    }

   228

   229

    while (!list_empty(&slave->soe_requests)) {

   230

        ec_master_soe_request_t *request =

   231

            list_entry(slave->soe_requests.next,

   232

                ec_master_soe_request_t, list);

   233

        list_del_init(&request->list); // dequeue

   234

        EC_SLAVE_WARN(slave, "Discarding SoE request,"

   235

                " slave about to be deleted.\n");

   236

        request->req.state = EC_INT_REQUEST_FAILURE;

   237

        wake_up(&slave->soe_queue);

   238

    }

   239

   240

    if (slave->config) {

   241

        ec_slave_config_detach(slave->config);

   242

    }

   243

   244

    // free all SDOs

   245

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

   246

        list_del(&sdo->list);

   247

        ec_sdo_clear(sdo);

   248

        kfree(sdo);

   249

    }

   250

   251

    // free all strings

   252

    if (slave->sii.strings) {

   253

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

   254

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

   255

        kfree(slave->sii.strings);

   256

    }

   257

   258

    // free all sync managers

   259

    ec_slave_clear_sync_managers(slave);

   260

   261

    // free all SII PDOs

   262

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

   263

        list_del(&pdo->list);

   264

        ec_pdo_clear(pdo);

   265

        kfree(pdo);

   266

    }

   267

   268

    if (slave->sii_words) {

   269

        kfree(slave->sii_words);

   270

    }

   271

   272

    ec_fsm_slave_clear(&slave->fsm);

   273

    ec_datagram_clear(&slave->fsm_datagram);

   274

}

   275

   276

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

   277

   278

/** Clear the sync manager array.

   279

 */

   280

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

   281

{

   282

    unsigned int i;

   283

   284

    if (slave->sii.syncs) {

   285

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

   286

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

   287

        }

   288

        kfree(slave->sii.syncs);

   289

        slave->sii.syncs = NULL;

   290

    }

   291

}

   292

   293

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

   294

   295

/**

   296

 * Sets the application state of a slave.

   297

 */

   298

   299

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

   300

        ec_slave_state_t new_state /**< new application state */

   301

        )

   302

{

   303

    if (new_state != slave->current_state) {

   304

        if (slave->master->debug_level) {

   305

            char old_state[EC_STATE_STRING_SIZE],

   306

                cur_state[EC_STATE_STRING_SIZE];

   307

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

   308

            ec_state_string(new_state, cur_state, 0);

   309

            EC_SLAVE_DBG(slave, 0, "%s -> %s.\n", old_state, cur_state);

   310

        }

   311

        slave->current_state = new_state;

   312

    }

   313

}

   314

   315

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

   316

   317

/**

   318

 * Request a slave state and resets the error flag.

   319

 */

   320

   321

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

   322

                            ec_slave_state_t state /**< new state */

   323

                            )

   324

{

   325

    slave->requested_state = state;

   326

    slave->error_flag = 0;

   327

}

   328

   329

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

   330

   331

/**

   332

   Fetches data from a STRING category.

   333

   \todo range checking

   334

   \return 0 in case of success, else < 0

   335

*/

   336

   337

int ec_slave_fetch_sii_strings(

   338

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

   339

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

   340

        size_t data_size /**< number of bytes */

   341

        )

   342

{

   343

    int i, err;

   344

    size_t size;

   345

    off_t offset;

   346

   347

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

   348

   349

    if (slave->sii.string_count) {

   350

        if (!(slave->sii.strings =

   351

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

   352

                        GFP_KERNEL))) {

   353

            EC_SLAVE_ERR(slave, "Failed to allocate string array memory.\n");

   354

            err = -ENOMEM;

   355

            goto out_zero;

   356

        }

   357

   358

        offset = 1;

   359

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

   360

            size = data[offset];

   361

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

   362

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

   363

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

   364

                EC_SLAVE_ERR(slave, "Failed to allocate string memory.\n");

   365

                err = -ENOMEM;

   366

                goto out_free;

   367

            }

   368

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

   369

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

   370

            offset += 1 + size;

   371

        }

   372

    }

   373

   374

    return 0;

   375

   376

out_free:

   377

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

   378

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

   379

    kfree(slave->sii.strings);

   380

    slave->sii.strings = NULL;

   381

out_zero:

   382

    slave->sii.string_count = 0;

   383

    return err;

   384

}

   385

   386

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

   387

   388

/**

   389

   Fetches data from a GENERAL category.

   390

   \return 0 in case of success, else < 0

   391

*/

   392

   393

int ec_slave_fetch_sii_general(

   394

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

   395

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

   396

        size_t data_size /**< size in bytes */

   397

        )

   398

{

   399

    unsigned int i;

   400

    uint8_t flags;

   401

   402

    if (data_size != 32) {

   403

        EC_SLAVE_ERR(slave, "Wrong size of general category (%zu/32).\n",

   404

                data_size);

   405

        return -EINVAL;

   406

    }

   407

   408

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

   409

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

   410

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

   411

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

   412

   413

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

   414

        slave->sii.physical_layer[i] =

   415

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

   416

   417

    // read CoE details

   418

    flags = EC_READ_U8(data + 5);

   419

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

   420

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

   421

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

   422

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

   423

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

   424

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

   425

   426

    // read general flags

   427

    flags = EC_READ_U8(data + 0x000B);

   428

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

   429

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

   430

   431

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

   432

    slave->sii.has_general = 1;

   433

    return 0;

   434

}

   435

   436

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

   437

   438

/** Fetches data from a SYNC MANAGER category.

   439

 *

   440

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

   441

 *

   442

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

   443

 */

   444

int ec_slave_fetch_sii_syncs(

   445

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

   446

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

   447

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

   448

        )

   449

{

   450

    unsigned int i, count, total_count;

   451

    ec_sync_t *sync;

   452

    size_t memsize;

   453

    ec_sync_t *syncs;

   454

    uint8_t index;

   455

   456

    // one sync manager struct is 4 words long

   457

    if (data_size % 8) {

   458

        EC_SLAVE_ERR(slave, "Invalid SII sync manager category size %zu.\n",

   459

                data_size);

   460

        return -EINVAL;

   461

    }

   462

   463

    count = data_size / 8;

   464

   465

    if (count) {

   466

        total_count = count + slave->sii.sync_count;

   467

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   468

            EC_SLAVE_ERR(slave, "Exceeded maximum number of"

   469

                    " sync managers!\n");

   470

            return -EOVERFLOW;

   471

        }

   472

        memsize = sizeof(ec_sync_t) * total_count;

   473

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

   474

            EC_SLAVE_ERR(slave, "Failed to allocate %zu bytes"

   475

                    " for sync managers.\n", memsize);

   476

            return -ENOMEM;

   477

        }

   478

   479

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

   480

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

   481

   482

        // initialize new sync managers

   483

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

   484

            index = i + slave->sii.sync_count;