1

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

     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

    12

 *  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

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave configuration methods.

    37

*/

    38

    39

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

    40

    41

#include <linux/slab.h>

    42

    43

#include "globals.h"

    44

#include "master.h"

    45

    46

#include "slave_config.h"

    47

    48

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

    49

    50

/** Slave configuration constructor.

    51

 *

    52

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

    53

 * position parameters.

    54

 */

    55

void ec_slave_config_init(

    56

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

    57

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

    58

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

    59

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

    60

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

    61

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

    62

        )

    63

{

    64

    unsigned int i;

    65

    66

    sc->master = master;

    67

    sc->alias = alias;

    68

    sc->position = position;

    69

    sc->vendor_id = vendor_id;

    70

    sc->product_code = product_code;

    71

    sc->slave = NULL;

    72

    73

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

    74

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

    75

    76

    INIT_LIST_HEAD(&sc->sdo_configs);

    77

    INIT_LIST_HEAD(&sc->sdo_requests);

    78

    79

    sc->used_fmmus = 0;

    80

}

    81

    82

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

    83

    84

/** Slave configuration destructor.

    85

 *

    86

 * Clears and frees a slave configuration object.

    87

 */

    88

void ec_slave_config_clear(

    89

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

    90

        )

    91

{

    92

    unsigned int i;

    93

    ec_sdo_request_t *req, *next_req;

    94

    95

    ec_slave_config_detach(sc);

    96

    97

    // Free sync managers

    98

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

    99

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

   100

   101

    // free all Sdo configurations

   102

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

   103

        list_del(&req->list);

   104

        ec_sdo_request_clear(req);

   105

        kfree(req);

   106

    }

   107

   108

    // free all Sdo requests

   109

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

   110

        list_del(&req->list);

   111

        ec_sdo_request_clear(req);

   112

        kfree(req);

   113

    }

   114

}

   115

   116

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

   117

   118

/** Prepares an FMMU configuration.

   119

 *

   120

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

   121

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

   122

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

   123

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

   124

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

   125

 * returns with success.

   126

 *

   127

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

   128

 * \retval -1  Error, FMMU limit reached.

   129

 */

   130

int ec_slave_config_prepare_fmmu(

   131

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

   132

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

   133

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

   134

        ec_direction_t dir /**< Pdo direction. */

   135

        )

   136

{

   137

    unsigned int i;

   138

    ec_fmmu_config_t *fmmu;

   139

   140

    // FMMU configuration already prepared?

   141

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

   142

        fmmu = &sc->fmmu_configs[i];

   143

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

   144

            return fmmu->logical_start_address;

   145

    }

   146

   147

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   148

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

   149

                sc->alias, sc->position);

   150

        return -1;

   151

    }

   152

   153

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

   154

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

   155

    return fmmu->logical_start_address;

   156

}

   157

   158

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

   159

   160

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

   161

 *

   162

 * \retval 0 Success.

   163

 * \retval -1 Slave not found.

   164

 * \retval -2 Slave already configured.

   165

 * \retval -3 Invalid slave type found at the given position.

   166

 */

   167

int ec_slave_config_attach(

   168

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

   169

        )

   170

{

   171

	ec_slave_t *slave;

   172

   173

	if (sc->slave)

   174

		return 0; // already attached

   175

   176

    if (!(slave = ec_master_find_slave(

   177

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

   178

        if (sc->master->debug_level)

   179

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

   180

                    sc->alias, sc->position);

   181

        return -1;

   182

    }

   183

   184

	if (slave->config) {

   185

        if (sc->master->debug_level)

   186

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

   187

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

   188

                    sc->position, slave->ring_position);

   189

        return -2;

   190

    }

   191

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

   192

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

   193

        if (sc->master->debug_level)

   194

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

   195

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

   196

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

   197

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

   198

                    sc->vendor_id, sc->product_code);

   199

        return -3;

   200

	}

   201

   202

	// attach slave

   203

	slave->config = sc;

   204

	sc->slave = slave;

   205

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   206

   207

    if (sc->master->debug_level)

   208

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

   209

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

   210

   211

	return 0;

   212

}

   213

   214

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

   215

   216

/** Detaches the configuration from a slave object.

   217

 */

   218

void ec_slave_config_detach(

   219

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

   220

        )

   221

{

   222

    if (sc->slave) {

   223

        sc->slave->config = NULL;

   224

        sc->slave = NULL;

   225

    }

   226

}

   227

   228

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

   229

   230

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

   231

 */

   232

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   233

{

   234

    uint8_t sync_index;

   235

    ec_sync_config_t *sync_config;

   236

    const ec_sync_t *sync;

   237

   238

    if (!sc->slave)

   239

        return;

   240

   241

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

   242

        sync_config = &sc->sync_configs[sync_index];

   243

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

   244

            sync_config->dir = ec_sync_default_direction(sync);

   245

            if (sync_config->dir == EC_DIR_INVALID)

   246

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

   247

                        sync_index, sc->slave->ring_position);

   248

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

   249

        }

   250

    }

   251

}

   252

   253

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

   254

   255

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

   256

 */

   257

void ec_slave_config_load_default_mapping(

   258

        const ec_slave_config_t *sc,

   259

        ec_pdo_t *pdo

   260

        )

   261

{

   262

    unsigned int i;

   263

    const ec_sync_t *sync;

   264

    const ec_pdo_t *default_pdo;

   265

   266

    if (!sc->slave)

   267

        return;

   268

   269

    if (sc->master->debug_level)

   270

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

   271

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

   272

   273

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

   274

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

   275

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

   276

   277

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

   278

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

   279

                continue;

   280

   281

            if (default_pdo->name) {

   282

                if (sc->master->debug_level)

   283

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

   284

   285

                // take Pdo name from assigned one

   286

                ec_pdo_set_name(pdo, default_pdo->name);

   287

            }

   288

   289

            // copy entries (= default Pdo mapping)

   290

            if (ec_pdo_copy_entries(pdo, default_pdo))

   291

                return;

   292

   293

            if (sc->master->debug_level) {

   294

                const ec_pdo_entry_t *entry;

   295

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

   296

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

   297

                            entry->index, entry->subindex);

   298

                }

   299

            }

   300

   301

            return;

   302

        }

   303

    }

   304

   305

    if (sc->master->debug_level)

   306

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

   307

}

   308

   309

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

   310

   311

unsigned int ec_slave_config_sdo_count(

   312

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

   313

        )

   314

{

   315

	const ec_sdo_request_t *req;

   316

	unsigned int count = 0;

   317

   318

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

   319

		count++;

   320

	}

   321

   322

	return count;

   323

}

   324

   325

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

   326

   327

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

   328

 *

   329

 * Const version.

   330

 */

   331

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   332

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

   333

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

   334

        )

   335

{

   336

    const ec_sdo_request_t *req;

   337

   338

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

   339

        if (pos--)

   340

            continue;

   341

        return req;

   342

    }

   343

   344

    return NULL;

   345

}

   346

   347

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

   348

 *  Realtime interface

   349

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

   350

   351

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   352

        ec_direction_t dir)

   353

{

   354

    ec_sync_config_t *sync_config;

   355

   356

    if (sc->master->debug_level)

   357

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

   358

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

   359

   360

    if (sync_index >= EC_MAX_SYNCS) {

   361

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

   362

        return -1;

   363

    }

   364

   365

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

   366

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

   367

        return -1;

   368

    }

   369

   370

    sync_config = &sc->sync_configs[sync_index];

   371

    sync_config->dir = dir;

   372

    return 0;

   373

}

   374

   375

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

   376

   377

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

   378

        uint8_t sync_index, uint16_t pdo_index)

   379

{

   380

    ec_pdo_t *pdo;

   381

   382

    if (sc->master->debug_level)

   383

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

   384

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

   385

   386

    if (sync_index >= EC_MAX_SYNCS) {

   387

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

   388

        return -1;

   389

    }

   390

   391

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

   392

        return -1;

   393

    pdo->sync_index = sync_index;

   394

   395

    ec_slave_config_load_default_mapping(sc, pdo);

   396

    return 0;

   397

}

   398

   399

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

   400

   401

void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

   402

        uint8_t sync_index)

   403

{

   404

    if (sc->master->debug_level)

   405

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

   406

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

   407

   408

    if (sync_index >= EC_MAX_SYNCS) {

   409

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

   410

        return;

   411

    }

   412

   413

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

   414

}

   415

   416

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

   417

   418

int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

   419

        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

   420

        uint8_t entry_bit_length)

   421

{

   422

    uint8_t sync_index;

   423

    ec_pdo_t *pdo = NULL;

   424

   425

    if (sc->master->debug_level)

   426

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

   427

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

   428

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

   429

                (u32) sc, pdo_index, entry_index, entry_subindex,

   430

                entry_bit_length);

   431

   432

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

   433

        if ((pdo = ec_pdo_list_find_pdo(

   434

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

   435

            break;

   436

   437

    if (!pdo) {

   438

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

   439

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

   440

        return -1;

   441

    }

   442

   443

    return ec_pdo_add_entry(pdo, entry_index, entry_subindex,

   444

            entry_bit_length) ? 0 : -1;

   445

}

   446

   447

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

   448

   449

void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

   450

        uint16_t pdo_index)

   451

{

   452

    uint8_t sync_index;

   453

    ec_pdo_t *pdo = NULL;

   454

   455

    if (sc->master->debug_level)

   456

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

   457

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

   458

   459

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

   460

        if ((pdo = ec_pdo_list_find_pdo(

   461

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

   462

            break;

   463

   464

    if (!pdo) {

   465

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

   466

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

   467

        return;

   468

    }

   469

   470

    ec_pdo_clear_entries(pdo);

   471

}

   472

   473

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

   474

   475

int ecrt_slave_config_sync_managers(ec_slave_config_t *sc,

   476

        unsigned int n_syncs, const ec_sync_info_t syncs[])

   477

{

   478

    unsigned int i, j, k;

   479

    const ec_sync_info_t *sync_info;

   480

    const ec_pdo_info_t *pdo_info;

   481

    const ec_pdo_entry_info_t *entry_info;

   482

   483

    if (sc->master->debug_level)

   484

        EC_DBG("ecrt_slave_config_sync_managers(sc = 0x%x, n_syncs = %u, "

   485

                "syncs = 0x%x)\n", (u32) sc, n_syncs, (u32) syncs);

   486

   487

    if (!syncs)

   488

        return 0;

   489

   490

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

   491

        sync_info = &syncs[i];

   492

   493

        if (sync_info->index == 0xff)

   494

            break;

   495

   496

        if (sync_info->index >= EC_MAX_SYNCS) {

   497

            EC_ERR("Invalid sync manager index %u!\n", sync_info->index);

   498

            return -1;

   499

        }

   500

   501

        if (ecrt_slave_config_sync_manager(