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

 *  vim: expandtab

    29

 *

    30

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

    31

    32

/**

    33

   \file

    34

   EtherCAT slave configuration methods.

    35

*/

    36

    37

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

    38

    39

#include <linux/slab.h>

    40

    41

#include "globals.h"

    42

#include "master.h"

    43

#include "voe_handler.h"

    44

    45

#include "slave_config.h"

    46

    47

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

    48

    49

/** Slave configuration constructor.

    50

 *

    51

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

    52

 * position parameters.

    53

 */

    54

void ec_slave_config_init(

    55

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

    56

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

    57

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

    58

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

    59

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

    60

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

    61

        )

    62

{

    63

    unsigned int i;

    64

    65

    sc->master = master;

    66

    67

    sc->alias = alias;

    68

    sc->position = position;

    69

    sc->vendor_id = vendor_id;

    70

    sc->product_code = product_code;

    71

    sc->watchdog_divider = 0; // use default

    72

    sc->watchdog_intervals = 0; // use default

    73

    sc->allow_overlapping_pdos = 0; // default not allowed

    74

    sc->slave = NULL;

    75

    76

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

    77

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

    78

    79

    sc->used_fmmus = 0;

    80

    sc->used_for_fmmu_datagram[EC_DIR_INPUT] = 0;

    81

    sc->used_for_fmmu_datagram[EC_DIR_OUTPUT] = 0;

    82

    sc->dc_assign_activate = 0x0000;

    83

    sc->dc_sync[0].cycle_time = 0x00000000;

    84

    sc->dc_sync[1].cycle_time = 0x00000000;

    85

    sc->dc_sync[0].shift_time = 0x00000000;

    86

    sc->dc_sync[1].shift_time = 0x00000000;

    87

    88

    INIT_LIST_HEAD(&sc->sdo_configs);

    89

    INIT_LIST_HEAD(&sc->sdo_requests);

    90

    INIT_LIST_HEAD(&sc->voe_handlers);

    91

    INIT_LIST_HEAD(&sc->soe_configs);

    92

}

    93

    94

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

    95

    96

/** Slave configuration destructor.

    97

 *

    98

 * Clears and frees a slave configuration object.

    99

 */

   100

void ec_slave_config_clear(

   101

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

   102

        )

   103

{

   104

    unsigned int i;

   105

    ec_sdo_request_t *req, *next_req;

   106

    ec_voe_handler_t *voe, *next_voe;

   107

    ec_soe_request_t *soe, *next_soe;

   108

   109

    ec_slave_config_detach(sc);

   110

   111

    // Free sync managers

   112

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

   113

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

   114

   115

    // free all SDO configurations

   116

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

   117

        list_del(&req->list);

   118

        ec_sdo_request_clear(req);

   119

        kfree(req);

   120

    }

   121

   122

    // free all SDO requests

   123

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

   124

        list_del(&req->list);

   125

        ec_sdo_request_clear(req);

   126

        kfree(req);

   127

    }

   128

   129

    // free all VoE handlers

   130

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

   131

        list_del(&voe->list);

   132

        ec_voe_handler_clear(voe);

   133

        kfree(voe);

   134

    }

   135

   136

    // free all SoE configurations

   137

    list_for_each_entry_safe(soe, next_soe, &sc->soe_configs, list) {

   138

        list_del(&soe->list);

   139

        ec_soe_request_clear(soe);

   140

        kfree(soe);

   141

    }

   142

}

   143

   144

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

   145

   146

/** Prepares an FMMU configuration.

   147

 *

   148

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

   149

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

   150

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

   151

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

   152

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

   153

 * returns with success.

   154

 *

   155

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

   156

 * \retval  <0 Error code.

   157

 */

   158

int ec_slave_config_prepare_fmmu(

   159

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

   160

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

   161

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

   162

        ec_direction_t dir /**< PDO direction. */

   163

        )

   164

{

   165

    unsigned int i;

   166

    ec_fmmu_config_t *fmmu;

   167

    ec_fmmu_config_t *prev_fmmu;

   168

    uint32_t fmmu_logical_start_address;

   169

    size_t tx_size;

   170

   171

    // FMMU configuration already prepared?

   172

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

   173

        fmmu = &sc->fmmu_configs[i];

   174

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

   175

            return fmmu->domain_address;

   176

    }

   177

   178

    if (sc->used_fmmus == EC_MAX_FMMUS) {

   179

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

   180

                sc->alias, sc->position);

   181

        return -EOVERFLOW;

   182

    }

   183

   184

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

   185

   186

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

   187

    ec_fmmu_config_init(fmmu, sc, sync_index, dir);

   188

    fmmu_logical_start_address = domain->tx_size;

   189

    tx_size = fmmu->data_size;

   190

    if (sc->allow_overlapping_pdos && sc->used_fmmus > 0) {

   191

        prev_fmmu = &sc->fmmu_configs[sc->used_fmmus-1];

   192

        if (fmmu->dir != prev_fmmu->dir) {

   193

            prev_fmmu->tx_size = max(fmmu->data_size,prev_fmmu->data_size);

   194

            tx_size = 0;

   195

            fmmu_logical_start_address = prev_fmmu->logical_start_address;

   196

        }

   197

    }

   198

    ec_fmmu_config_domain(fmmu,domain,fmmu_logical_start_address,tx_size);

   199

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

   200

   201

    ++sc->used_fmmus;

   202

    return fmmu->domain_address;

   203

}

   204

   205

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

   206

   207

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

   208

 *

   209

 * \retval  0 Success.

   210

 * \retval <0 Error code.

   211

 */

   212

int ec_slave_config_attach(

   213

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

   214

        )

   215

{

   216

    ec_slave_t *slave;

   217

   218

    if (sc->slave)

   219

        return 0; // already attached

   220

   221

    if (!(slave = ec_master_find_slave(

   222

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

   223

        if (sc->master->debug_level)

   224

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

   225

                    sc->alias, sc->position);

   226

        return -ENOENT;

   227

    }

   228

   229

    if (slave->config) {

   230

        if (sc->master->debug_level)

   231

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

   232

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

   233

                    sc->position, slave->ring_position);

   234

        return -EEXIST;

   235

    }

   236

   237

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

   238

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

   239

        if (sc->master->debug_level)

   240

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

   241

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

   242

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

   243

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

   244

                    sc->vendor_id, sc->product_code);

   245

        return -EINVAL;

   246

    }

   247

   248

    // attach slave

   249

    slave->config = sc;

   250

    sc->slave = slave;

   251

   252

    ec_slave_request_state(slave, EC_SLAVE_STATE_OP);

   253

   254

    if (sc->master->debug_level)

   255

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

   256

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

   257

   258

    return 0;

   259

}

   260

   261

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

   262

   263

/** Detaches the configuration from a slave object.

   264

 */

   265

void ec_slave_config_detach(

   266

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

   267

        )

   268

{

   269

    if (sc->slave) {

   270

        sc->slave->config = NULL;

   271

        sc->slave = NULL;

   272

    }

   273

}

   274

   275

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

   276

   277

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

   278

 */

   279

void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)

   280

{

   281

    uint8_t sync_index;

   282

    ec_sync_config_t *sync_config;

   283

    const ec_sync_t *sync;

   284

   285

    if (!sc->slave)

   286

        return;

   287

   288

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

   289

        sync_config = &sc->sync_configs[sync_index];

   290

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

   291

            sync_config->dir = ec_sync_default_direction(sync);

   292

            if (sync_config->dir == EC_DIR_INVALID)

   293

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

   294

                        sync_index, sc->slave->ring_position);

   295

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

   296

        }

   297

    }

   298

}

   299

   300

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

   301

   302

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

   303

 */

   304

void ec_slave_config_load_default_mapping(

   305

        const ec_slave_config_t *sc,

   306

        ec_pdo_t *pdo

   307

        )

   308

{

   309

    unsigned int i;

   310

    const ec_sync_t *sync;

   311

    const ec_pdo_t *default_pdo;

   312

   313

    if (!sc->slave)

   314

        return;

   315

   316

    if (sc->master->debug_level)

   317

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

   318

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

   319

   320

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

   321

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

   322

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

   323

   324

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

   325

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

   326

                continue;

   327

   328

            if (default_pdo->name) {

   329

                if (sc->master->debug_level)

   330

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

   331

   332

                // take PDO name from assigned one

   333

                ec_pdo_set_name(pdo, default_pdo->name);

   334

            }

   335

   336

            // copy entries (= default PDO mapping)

   337

            if (ec_pdo_copy_entries(pdo, default_pdo))

   338

                return;

   339

   340

            if (sc->master->debug_level) {

   341

                const ec_pdo_entry_t *entry;

   342

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

   343

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

   344

                            entry->index, entry->subindex);

   345

                }

   346

            }

   347

   348

            return;

   349

        }

   350

    }

   351

   352

    if (sc->master->debug_level)

   353

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

   354

}

   355

   356

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

   357

   358

/** Get the number of SDO configurations.

   359

 *

   360

 * \return Number of SDO configurations.

   361

 */

   362

unsigned int ec_slave_config_sdo_count(

   363

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

   364

        )

   365

{

   366

    const ec_sdo_request_t *req;

   367

    unsigned int count = 0;

   368

   369

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

   370

        count++;

   371

    }

   372

   373

    return count;

   374

}

   375

   376

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

   377

   378

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

   379

 *

   380

 * Const version.

   381

 */

   382

const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(

   383

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

   384

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

   385

        )

   386

{

   387

    const ec_sdo_request_t *req;

   388

   389

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

   390

        if (pos--)

   391

            continue;

   392

        return req;

   393

    }

   394

   395

    return NULL;

   396

}

   397

   398

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

   399

   400

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

   401

 */

   402

ec_sdo_request_t *ec_slave_config_find_sdo_request(

   403

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

   404

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

   405

        )

   406

{

   407

    ec_sdo_request_t *req;

   408

   409

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

   410

        if (pos--)

   411

            continue;

   412

        return req;

   413

    }

   414

   415

    return NULL;

   416

}

   417

   418

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

   419

   420

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

   421

 */

   422

ec_voe_handler_t *ec_slave_config_find_voe_handler(

   423

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

   424

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

   425

        )

   426

{

   427

    ec_voe_handler_t *voe;

   428

   429

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

   430

        if (pos--)

   431

            continue;

   432

        return voe;

   433

    }

   434

   435

    return NULL;

   436

}

   437

   438

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

   439

 *  Application interface

   440

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

   441

   442

int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

   443

        ec_direction_t dir, ec_watchdog_mode_t watchdog_mode)

   444

{

   445

    ec_sync_config_t *sync_config;

   446

   447

    if (sc->master->debug_level)

   448

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

   449

                "dir = %i, watchdog_mode = %i)\n",

   450

                 sc, sync_index, dir, watchdog_mode);

   451

   452

    if (sync_index >= EC_MAX_SYNC_MANAGERS) {

   453

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

   454

        return -ENOENT;

   455

    }

   456

   457

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

   458

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

   459

        return -EINVAL;

   460

    }

   461

   462

    sync_config = &sc->sync_configs[sync_index];

   463

    sync_config->dir = dir;

   464

    sync_config->watchdog_mode = watchdog_mode;

   465

    return 0;

   466

}

   467

   468

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

   469

   470

void ecrt_slave_config_watchdog(ec_slave_config_t *sc,

   471

        uint16_t divider, uint16_t intervals)

   472

{

   473

    if (sc->master->debug_level)

   474

        EC_DBG("%s(sc = 0x%p, divider = %u, intervals = %u)\n",

   475

                __func__, sc, divider, intervals);

   476

   477

    sc->watchdog_divider = divider;

   478

    sc->watchdog_intervals = intervals;

   479

}

   480

   481

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

   482

   483

void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,

   484

        uint8_t allow_overlapping_pdos )

   485

{

   486

    if (sc->master->debug_level)

   487

        EC_DBG("%s(sc = 0x%p, allow_overlapping_pdos = %u)\n",

   488

                __func__, sc, allow_overlapping_pdos);

   489

   490

    sc->allow_overlapping_pdos = allow_overlapping_pdos;

   491

}

   492

   493

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

   494

   495

int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,