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

 *  ---

    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

        uint16_t ring_position, /**< ring position */

    66

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

    67

        )

    68

{

    69

    unsigned int i;

    70

    int ret;

    71

    72

    slave->master = master;

    73

    slave->ring_position = ring_position;

    74

    slave->station_address = station_address;

    75

    76

    slave->config = NULL;

    77

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    78

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    79

    slave->error_flag = 0;

    80

    slave->force_config = 0;

    81

    slave->configured_rx_mailbox_offset = 0x0000;

    82

    slave->configured_rx_mailbox_size = 0x0000;

    83

    slave->configured_tx_mailbox_offset = 0x0000;

    84

    slave->configured_tx_mailbox_size = 0x0000;

    85

    86

    slave->base_type = 0;

    87

    slave->base_revision = 0;

    88

    slave->base_build = 0;

    89

    slave->base_fmmu_count = 0;

    90

    slave->base_sync_count = 0;

    91

    92

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

    93

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

    94

    95

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

    96

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

    97

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

    98

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

    99

   100

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

   101

   102

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

   103

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

   104

    }

   105

   106

    slave->base_fmmu_bit_operation = 0;

   107

    slave->base_dc_supported = 0;

   108

    slave->base_dc_range = EC_DC_32;

   109

    slave->has_dc_system_time = 0;

   110

    slave->transmission_delay = 0U;

   111

   112

    slave->sii_words = NULL;

   113

    slave->sii_nwords = 0;

   114

   115

    slave->sii.alias = 0x0000;

   116

    slave->sii.vendor_id = 0x00000000;

   117

    slave->sii.product_code = 0x00000000;

   118

    slave->sii.revision_number = 0x00000000;

   119

    slave->sii.serial_number = 0x00000000;

   120

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   121

    slave->sii.boot_rx_mailbox_size = 0x0000;

   122

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   123

    slave->sii.boot_tx_mailbox_size = 0x0000;

   124

    slave->sii.std_rx_mailbox_offset = 0x0000;

   125

    slave->sii.std_rx_mailbox_size = 0x0000;

   126

    slave->sii.std_tx_mailbox_offset = 0x0000;

   127

    slave->sii.std_tx_mailbox_size = 0x0000;

   128

    slave->sii.mailbox_protocols = 0;

   129

   130

    slave->sii.strings = NULL;

   131

    slave->sii.string_count = 0;

   132

   133

    slave->sii.has_general = 0;

   134

    slave->sii.group = NULL;

   135

    slave->sii.image = NULL;

   136

    slave->sii.order = NULL;

   137

    slave->sii.name = NULL;

   138

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

   139

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

   140

    slave->sii.current_on_ebus = 0;

   141

   142

    slave->sii.syncs = NULL;

   143

    slave->sii.sync_count = 0;

   144

   145

    INIT_LIST_HEAD(&slave->sii.pdos);

   146

   147

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   148

   149

    slave->sdo_dictionary_fetched = 0;

   150

    slave->jiffies_preop = 0;

   151

   155

    // init state machine datagram

   156

    ec_datagram_init(&slave->fsm_datagram);

   157

    snprintf(slave->fsm_datagram.name, EC_DATAGRAM_NAME_SIZE, "slave%u-fsm",slave->ring_position);

   158

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

   159

    if (ret < 0) {

   160

        ec_datagram_clear(&slave->fsm_datagram);

   161

        EC_ERR("Failed to allocate Slave %u FSM datagram.\n",slave->ring_position);

   162

        return;

   163

    }

   164

   165

    // create state machine object

   166

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

   167

   168

}

   169

   170

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

   171

   172

/**

   173

   Slave destructor.

   174

   Clears and frees a slave object.

   175

*/

   176

   177

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

   178

{

   179

    ec_sdo_t *sdo, *next_sdo;

   180

    unsigned int i;

   181

    ec_pdo_t *pdo, *next_pdo;

   182

   183

    if (slave->config)

   184

        ec_slave_config_detach(slave->config);

   185

   186

    // free all SDOs

   187

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

   188

        list_del(&sdo->list);

   189

        ec_sdo_clear(sdo);

   190

        kfree(sdo);

   191

    }

   192

   193

    // free all strings

   194

    if (slave->sii.strings) {

   195

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

   196

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

   197

        kfree(slave->sii.strings);

   198

    }

   199

   200

    // free all sync managers

   201

    ec_slave_clear_sync_managers(slave);

   202

   203

    // free all SII PDOs

   204

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

   205

        list_del(&pdo->list);

   206

        ec_pdo_clear(pdo);

   207

        kfree(pdo);

   208

    }

   209

   210

    if (slave->sii_words)

   211

        kfree(slave->sii_words);

   212

    ec_fsm_slave_clear(&slave->fsm);

   213

    ec_datagram_clear(&slave->fsm_datagram);

   214

   215

}

   216

   217

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

   218

   219

/** Clear the sync manager array. 

   220

 */

   221

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

   222

{

   223

    unsigned int i;

   224

   225

    if (slave->sii.syncs) {

   226

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

   227

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

   228

        }

   229

        kfree(slave->sii.syncs);

   230

        slave->sii.syncs = NULL;

   231

    }

   232

}

   233

   234

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

   235

   236

/**

   237

 * Sets the application state of a slave.

   238

 */

   239

   240

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

   241

        ec_slave_state_t new_state /**< new application state */

   242

        )

   243

{

   244

    if (new_state != slave->current_state) {

   245

        if (slave->master->debug_level) {

   246

            char old_state[EC_STATE_STRING_SIZE],

   247

                cur_state[EC_STATE_STRING_SIZE];

   248

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

   249

            ec_state_string(new_state, cur_state, 0);

   250

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

   251

                   slave->ring_position, old_state, cur_state);

   252

        }

   253

        slave->current_state = new_state;

   254

    }

   255

}

   256

   257

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

   258

   259

/**

   260

 * Request a slave state and resets the error flag.

   261

 */

   262

   263

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

   264

                            ec_slave_state_t state /**< new state */

   265

                            )

   266

{

   267

    slave->requested_state = state;

   268

    slave->error_flag = 0;

   269

}

   270

   271

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

   272

   273

/**

   274

   Fetches data from a STRING category.

   275

   \todo range checking

   276

   \return 0 in case of success, else < 0

   277

*/

   278

   279

int ec_slave_fetch_sii_strings(

   280

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

   281

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

   282

        size_t data_size /**< number of bytes */

   283

        )

   284

{

   285

    int i, err;

   286

    size_t size;

   287

    off_t offset;

   288

   289

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

   290

   291

    if (slave->sii.string_count) {

   292

        if (!(slave->sii.strings =

   293

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

   294

                        GFP_KERNEL))) {

   295

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

   296

            err = -ENOMEM;

   297

            goto out_zero;

   298

        }

   299

   300

        offset = 1;

   301

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

   302

            size = data[offset];

   303

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

   304

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

   305

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

   306

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

   307

                err = -ENOMEM;

   308

                goto out_free;

   309

            }

   310

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

   311

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

   312

            offset += 1 + size;

   313

        }

   314

    }

   315

   316

    return 0;

   317

   318

out_free:

   319

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

   320

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

   321

    kfree(slave->sii.strings);

   322

    slave->sii.strings = NULL;

   323

out_zero:

   324

    slave->sii.string_count = 0;

   325

    return err;

   326

}

   327

   328

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

   329

   330

/**

   331

   Fetches data from a GENERAL category.

   332

   \return 0 in case of success, else < 0

   333

*/

   334

   335

int ec_slave_fetch_sii_general(

   336

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

   337

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

   338

        size_t data_size /**< size in bytes */

   339

        )

   340

{

   341

    unsigned int i;

   342

    uint8_t flags;

   343

   344

    if (data_size != 32) {

   345

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

   346

                data_size, slave->ring_position);

   347

        return -EINVAL;

   348

    }

   349

   350

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

   351

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

   352

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

   353

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

   354

   355

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

   356

        slave->sii.physical_layer[i] =

   357

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

   358

   359

    // read CoE details

   360

    flags = EC_READ_U8(data + 5);

   361

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

   362

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

   363

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

   364

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

   365

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

   366

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

   367

   368

    // read general flags

   369

    flags = EC_READ_U8(data + 0x000B);

   370

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

   371

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

   372

   373

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

   374

    slave->sii.has_general = 1;

   375

    return 0;

   376

}

   377

   378

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

   379

   380

/** Fetches data from a SYNC MANAGER category.

   381

 *

   382

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

   383

 *

   384

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

   385

 */

   386

int ec_slave_fetch_sii_syncs(

   387

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

   388

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

   389

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

   390

        )

   391

{

   392

    unsigned int i, count, total_count;

   393

    ec_sync_t *sync;

   394

    size_t memsize;

   395

    ec_sync_t *syncs;

   396

    uint8_t index;

   397

   398

    // one sync manager struct is 4 words long

   399

    if (data_size % 8) {

   400

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

   401

                data_size, slave->ring_position);

   402

        return -EINVAL;

   403

    }

   404

   405

    count = data_size / 8;

   406

   407

    if (count) {

   408

        total_count = count + slave->sii.sync_count;

   409

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   410

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

   411

            return -EOVERFLOW;

   412

        }

   413

        memsize = sizeof(ec_sync_t) * total_count;

   414

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

   415

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

   416

                    memsize);

   417

            return -ENOMEM;

   418

        }

   419

   420

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

   421

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

   422

   423

        // initialize new sync managers

   424

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

   425

            index = i + slave->sii.sync_count;

   426

            sync = &syncs[index];

   427

   428

            ec_sync_init(sync, slave);

   429

            sync->physical_start_address = EC_READ_U16(data);

   430

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

   431

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

   432

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

   433

        }

   434

   435

        if (slave->sii.syncs)

   436

            kfree(slave->sii.syncs);

   437

        slave->sii.syncs = syncs;

   438

        slave->sii.sync_count = total_count;

   439

    }

   440

   441

    return 0;

   442

}

   443

   444

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

   445

   446

/**

   447

   Fetches data from a [RT]xPDO category.

   448

   \return 0 in case of success, else < 0

   449

*/

   450

   451

int ec_slave_fetch_sii_pdos(

   452

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

   453

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

   454

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

   455

        ec_direction_t dir /**< PDO direction. */

   456

        )

   457

{

   458

    int ret;

   459

    ec_pdo_t *pdo;

   460

    ec_pdo_entry_t *entry;

   461

    unsigned int entry_count, i;

   462

   463

    while (data_size >= 8) {

   464

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

   465

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

   466

            return -ENOMEM;

   467

        }

   468

   469

        ec_pdo_init(pdo);

   470

        pdo->index = EC_READ_U16(data);

   471

        entry_count = EC_READ_U8(data + 2);

   472

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

   473

        ret = ec_pdo_set_name(pdo,

   474

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

   475

        if (ret) {

   476

            ec_pdo_clear(pdo);

   477

            kfree(pdo);

   478

            return ret;

   479

        }

   480

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

   481

   482

        data_size -= 8;

   483

        data += 8;

   484