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

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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,

    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

    slave->effective_alias = 0x0000;

    76

    77

    slave->config = NULL;

    78

    slave->requested_state = EC_SLAVE_STATE_PREOP;

    79

    slave->current_state = EC_SLAVE_STATE_UNKNOWN;

    80

    slave->error_flag = 0;

    81

    slave->force_config = 0;

    82

    slave->configured_rx_mailbox_offset = 0x0000;

    83

    slave->configured_rx_mailbox_size = 0x0000;

    84

    slave->configured_tx_mailbox_offset = 0x0000;

    85

    slave->configured_tx_mailbox_size = 0x0000;

    86

    87

    slave->base_type = 0;

    88

    slave->base_revision = 0;

    89

    slave->base_build = 0;

    90

    slave->base_fmmu_count = 0;

    91

    slave->base_sync_count = 0;

    92

    93

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

    94

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

    95

    96

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

    97

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

    98

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

    99

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

   100

   101

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

   102

   103

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

   104

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

   105

    }

   106

   107

    slave->base_fmmu_bit_operation = 0;

   108

    slave->base_dc_supported = 0;

   109

    slave->base_dc_range = EC_DC_32;

   110

    slave->has_dc_system_time = 0;

   111

    slave->transmission_delay = 0U;

   112

   113

    slave->sii_words = NULL;

   114

    slave->sii_nwords = 0;

   115

   116

    slave->sii.alias = 0x0000;

   117

    slave->sii.vendor_id = 0x00000000;

   118

    slave->sii.product_code = 0x00000000;

   119

    slave->sii.revision_number = 0x00000000;

   120

    slave->sii.serial_number = 0x00000000;

   121

    slave->sii.boot_rx_mailbox_offset = 0x0000;

   122

    slave->sii.boot_rx_mailbox_size = 0x0000;

   123

    slave->sii.boot_tx_mailbox_offset = 0x0000;

   124

    slave->sii.boot_tx_mailbox_size = 0x0000;

   125

    slave->sii.std_rx_mailbox_offset = 0x0000;

   126

    slave->sii.std_rx_mailbox_size = 0x0000;

   127

    slave->sii.std_tx_mailbox_offset = 0x0000;

   128

    slave->sii.std_tx_mailbox_size = 0x0000;

   129

    slave->sii.mailbox_protocols = 0;

   130

   131

    slave->sii.strings = NULL;

   132

    slave->sii.string_count = 0;

   133

   134

    slave->sii.has_general = 0;

   135

    slave->sii.group = NULL;

   136

    slave->sii.image = NULL;

   137

    slave->sii.order = NULL;

   138

    slave->sii.name = NULL;

   139

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

   140

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

   141

    slave->sii.current_on_ebus = 0;

   142

   143

    slave->sii.syncs = NULL;

   144

    slave->sii.sync_count = 0;

   145

   146

    INIT_LIST_HEAD(&slave->sii.pdos);

   147

   148

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   149

   150

    slave->sdo_dictionary_fetched = 0;

   151

    slave->jiffies_preop = 0;

   152

   153

    INIT_LIST_HEAD(&slave->slave_sdo_requests);

   154

    init_waitqueue_head(&slave->sdo_queue);

   155

   156

    INIT_LIST_HEAD(&slave->foe_requests);

   157

    init_waitqueue_head(&slave->foe_queue);

   158

   159

    INIT_LIST_HEAD(&slave->soe_requests);

   160

    init_waitqueue_head(&slave->soe_queue);

   161

   162

    // init state machine datagram

   163

    ec_datagram_init(&slave->fsm_datagram);

   164

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

   165

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

   166

    if (ret < 0) {

   167

        ec_datagram_clear(&slave->fsm_datagram);

   168

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

   169

        return;

   170

    }

   171

   172

    // create state machine object

   173

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

   174

   175

}

   176

   177

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

   178

   179

/**

   180

   Slave destructor.

   181

   Clears and frees a slave object.

   182

*/

   183

   184

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

   185

{

   186

    ec_sdo_t *sdo, *next_sdo;

   187

    unsigned int i;

   188

    ec_pdo_t *pdo, *next_pdo;

   189

   190

    if (slave->config)

   191

        ec_slave_config_detach(slave->config);

   192

   193

    // free all SDOs

   194

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

   195

        list_del(&sdo->list);

   196

        ec_sdo_clear(sdo);

   197

        kfree(sdo);

   198

    }

   199

   200

    // free all strings

   201

    if (slave->sii.strings) {

   202

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

   203

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

   204

        kfree(slave->sii.strings);

   205

    }

   206

   207

    // free all sync managers

   208

    ec_slave_clear_sync_managers(slave);

   209

   210

    // free all SII PDOs

   211

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

   212

        list_del(&pdo->list);

   213

        ec_pdo_clear(pdo);

   214

        kfree(pdo);

   215

    }

   216

   217

    if (slave->sii_words)

   218

        kfree(slave->sii_words);

   219

    ec_fsm_slave_clear(&slave->fsm);

   220

    ec_datagram_clear(&slave->fsm_datagram);

   221

   222

}

   223

   224

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

   225

   226

/** Clear the sync manager array. 

   227

 */

   228

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

   229

{

   230

    unsigned int i;

   231

   232

    if (slave->sii.syncs) {

   233

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

   234

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

   235

        }

   236

        kfree(slave->sii.syncs);

   237

        slave->sii.syncs = NULL;

   238

    }

   239

}

   240

   241

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

   242

   243

/**

   244

 * Sets the application state of a slave.

   245

 */

   246

   247

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

   248

        ec_slave_state_t new_state /**< new application state */

   249

        )

   250

{

   251

    if (new_state != slave->current_state) {

   252

        if (slave->master->debug_level) {

   253

            char old_state[EC_STATE_STRING_SIZE],

   254

                cur_state[EC_STATE_STRING_SIZE];

   255

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

   256

            ec_state_string(new_state, cur_state, 0);

   257

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

   258

                   slave->ring_position, old_state, cur_state);

   259

        }

   260

        slave->current_state = new_state;

   261

    }

   262

}

   263

   264

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

   265

   266

/**

   267

 * Request a slave state and resets the error flag.

   268

 */

   269

   270

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

   271

                            ec_slave_state_t state /**< new state */

   272

                            )

   273

{

   274

    slave->requested_state = state;

   275

    slave->error_flag = 0;

   276

}

   277

   278

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

   279

   280

/**

   281

   Fetches data from a STRING category.

   282

   \todo range checking

   283

   \return 0 in case of success, else < 0

   284

*/

   285

   286

int ec_slave_fetch_sii_strings(

   287

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

   288

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

   289

        size_t data_size /**< number of bytes */

   290

        )

   291

{

   292

    int i, err;

   293

    size_t size;

   294

    off_t offset;

   295

   296

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

   297

   298

    if (slave->sii.string_count) {

   299

        if (!(slave->sii.strings =

   300

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

   301

                        GFP_KERNEL))) {

   302

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

   303

            err = -ENOMEM;

   304

            goto out_zero;

   305

        }

   306

   307

        offset = 1;

   308

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

   309

            size = data[offset];

   310

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

   311

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

   312

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

   313

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

   314

                err = -ENOMEM;

   315

                goto out_free;

   316

            }

   317

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

   318

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

   319

            offset += 1 + size;

   320

        }

   321

    }

   322

   323

    return 0;

   324

   325

out_free:

   326

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

   327

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

   328

    kfree(slave->sii.strings);

   329

    slave->sii.strings = NULL;

   330

out_zero:

   331

    slave->sii.string_count = 0;

   332

    return err;

   333

}

   334

   335

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

   336

   337

/**

   338

   Fetches data from a GENERAL category.

   339

   \return 0 in case of success, else < 0

   340

*/

   341

   342

int ec_slave_fetch_sii_general(

   343

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

   344

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

   345

        size_t data_size /**< size in bytes */

   346

        )

   347

{

   348

    unsigned int i;

   349

    uint8_t flags;

   350

   351

    if (data_size != 32) {

   352

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

   353

                data_size, slave->ring_position);

   354

        return -EINVAL;

   355

    }

   356

   357

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

   358

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

   359

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

   360

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

   361

   362

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

   363

        slave->sii.physical_layer[i] =

   364

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

   365

   366

    // read CoE details

   367

    flags = EC_READ_U8(data + 5);

   368

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

   369

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

   370

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

   371

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

   372

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

   373

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

   374

   375

    // read general flags

   376

    flags = EC_READ_U8(data + 0x000B);

   377

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

   378

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

   379

   380

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

   381

    slave->sii.has_general = 1;

   382

    return 0;

   383

}

   384

   385

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

   386

   387

/** Fetches data from a SYNC MANAGER category.

   388

 *

   389

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

   390

 *

   391

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

   392

 */

   393

int ec_slave_fetch_sii_syncs(

   394

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

   395

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

   396

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

   397

        )

   398

{

   399

    unsigned int i, count, total_count;

   400

    ec_sync_t *sync;

   401

    size_t memsize;

   402

    ec_sync_t *syncs;

   403

    uint8_t index;

   404

   405

    // one sync manager struct is 4 words long

   406

    if (data_size % 8) {

   407

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

   408

                data_size, slave->ring_position);

   409

        return -EINVAL;

   410

    }

   411

   412

    count = data_size / 8;

   413

   414

    if (count) {

   415

        total_count = count + slave->sii.sync_count;

   416

        if (total_count > EC_MAX_SYNC_MANAGERS) {

   417

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

   418

            return -EOVERFLOW;

   419

        }

   420

        memsize = sizeof(ec_sync_t) * total_count;

   421

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

   422

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

   423

                    memsize);

   424

            return -ENOMEM;

   425

        }

   426

   427

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

   428

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

   429

   430

        // initialize new sync managers

   431

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

   432

            index = i + slave->sii.sync_count;

   433

            sync = &syncs[index];

   434

   435

            ec_sync_init(sync, slave);

   436

            sync->physical_start_address = EC_READ_U16(data);

   437

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

   438

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

   439

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

   440

        }

   441

   442

        if (slave->sii.syncs)

   443

            kfree(slave->sii.syncs);

   444

        slave->sii.syncs = syncs;

   445

        slave->sii.sync_count = total_count;

   446

    }

   447

   448

    return 0;

   449

}

   450

   451

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

   452

   453

/**

   454

   Fetches data from a [RT]xPDO category.

   455

   \return 0 in case of success, else < 0

   456

*/

   457

   458

int ec_slave_fetch_sii_pdos(

   459

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

   460

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

   461

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

   462

        ec_direction_t dir /**< PDO direction. */

   463

        )

   464

{

   465

    int ret;

   466

    ec_pdo_t *pdo;

   467

    ec_pdo_entry_t *entry;

   468

    unsigned int entry_count, i;

   469

   470

    while (data_size >= 8) {

   471

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

   472

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

   473

            return -ENOMEM;

   474

        }

   475

   476

        ec_pdo_init(pdo);

   477

        pdo->index = EC_READ_U16(data);

   478

        entry_count = EC_READ_U8(data + 2);

   479

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

   480

        ret = ec_pdo_set_name(pdo,

   481

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

   482

        if (ret) {

   483

            ec_pdo_clear(pdo);

   484

            kfree(pdo);