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; version 2 of the License.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    14

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    16

 *  GNU General Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License

    19

 *  along 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

/**

    25

   \file

    26

   EtherCAT slave methods.

    27

*/

    28

    29

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

    30

    31

#include <linux/module.h>

    32

#include <linux/delay.h>

    33

    34

#include "globals.h"

    35

#include "slave.h"

    36

#include "command.h"

    37

#include "master.h"

    38

    39

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

    40

    41

int ec_slave_fetch_categories(ec_slave_t *);

    42

int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);

    43

int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);

    44

int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t);

    45

int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);

    46

int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);

    47

ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);

    48

    49

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

    50

    51

/** \cond */

    52

    53

EC_SYSFS_READ_ATTR(ring_position);

    54

EC_SYSFS_READ_ATTR(coupler_address);

    55

EC_SYSFS_READ_ATTR(vendor_name);

    56

EC_SYSFS_READ_ATTR(product_name);

    57

EC_SYSFS_READ_ATTR(product_desc);

    58

EC_SYSFS_READ_ATTR(type);

    59

    60

static struct attribute *def_attrs[] = {

    61

    &attr_ring_position,

    62

    &attr_coupler_address,

    63

    &attr_vendor_name,

    64

    &attr_product_name,

    65

    &attr_product_desc,

    66

    &attr_type,

    67

    NULL,

    68

};

    69

    70

static struct sysfs_ops sysfs_ops = {

    71

    .show = &ec_show_slave_attribute,

    72

    .store = NULL

    73

};

    74

    75

static struct kobj_type ktype_ec_slave = {

    76

    .release = ec_slave_clear,

    77

    .sysfs_ops = &sysfs_ops,

    78

    .default_attrs = def_attrs

    79

};

    80

    81

/** \endcond */

    82

    83

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

    84

    85

const ec_code_msg_t al_status_messages[];

    86

    87

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

    88

    89

/**

    90

   Slave constructor.

    91

   \return 0 in case of success, else < 0

    92

*/

    93

    94

int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */

    95

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

    96

                  uint16_t ring_position, /**< ring position */

    97

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

    98

                  )

    99

{

   100

    unsigned int i;

   101

   102

    slave->ring_position = ring_position;

   103

    slave->station_address = station_address;

   104

   105

    // init kobject and add it to the hierarchy

   106

    memset(&slave->kobj, 0x00, sizeof(struct kobject));

   107

    kobject_init(&slave->kobj);

   108

    slave->kobj.ktype = &ktype_ec_slave;

   109

    slave->kobj.parent = &master->kobj;

   110

    if (kobject_set_name(&slave->kobj, "slave%03i", slave->ring_position)) {

   111

        EC_ERR("Failed to set kobject name.\n");

   112

        kobject_put(&slave->kobj);

   113

        return -1;

   114

    }

   115

   116

    slave->master = master;

   117

    slave->coupler_index = 0;

   118

    slave->coupler_subindex = 0xFFFF;

   119

    slave->base_type = 0;

   120

    slave->base_revision = 0;

   121

    slave->base_build = 0;

   122

    slave->base_fmmu_count = 0;

   123

    slave->base_sync_count = 0;

   124

    slave->sii_alias = 0;

   125

    slave->sii_vendor_id = 0;

   126

    slave->sii_product_code = 0;

   127

    slave->sii_revision_number = 0;

   128

    slave->sii_serial_number = 0;

   129

    slave->sii_rx_mailbox_offset = 0;

   130

    slave->sii_rx_mailbox_size = 0;

   131

    slave->sii_tx_mailbox_offset = 0;

   132

    slave->sii_tx_mailbox_size = 0;

   133

    slave->sii_mailbox_protocols = 0;

   134

    slave->type = NULL;

   135

    slave->registered = 0;

   136

    slave->fmmu_count = 0;

   137

    slave->eeprom_name = NULL;

   138

    slave->eeprom_group = NULL;

   139

    slave->eeprom_desc = NULL;

   140

   141

    ec_command_init(&slave->mbox_command);

   142

   143

    INIT_LIST_HEAD(&slave->eeprom_strings);

   144

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   145

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   146

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   147

   148

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

   149

        slave->dl_link[i] = 0;

   150

        slave->dl_loop[i] = 0;

   151

        slave->dl_signal[i] = 0;

   152

        slave->sii_physical_layer[i] = 0xFF;

   153

    }

   154

   155

    return 0;

   156

}

   157

   158

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

   159

   160

/**

   161

   Slave destructor.

   162

*/

   163

   164

void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)

   165

{

   166

    ec_slave_t *slave;

   167

    ec_eeprom_string_t *string, *next_str;

   168

    ec_eeprom_sync_t *sync, *next_sync;

   169

    ec_eeprom_pdo_t *pdo, *next_pdo;

   170

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   171

    ec_sdo_t *sdo, *next_sdo;

   172

    ec_sdo_entry_t *en, *next_en;

   173

   174

    slave = container_of(kobj, ec_slave_t, kobj);

   175

   176

    // free all string objects

   177

    list_for_each_entry_safe(string, next_str, &slave->eeprom_strings, list) {

   178

        list_del(&string->list);

   179

        kfree(string);

   180

    }

   181

   182

    // free all sync managers

   183

    list_for_each_entry_safe(sync, next_sync, &slave->eeprom_syncs, list) {

   184

        list_del(&sync->list);

   185

        kfree(sync);

   186

    }

   187

   188

    // free all PDOs

   189

    list_for_each_entry_safe(pdo, next_pdo, &slave->eeprom_pdos, list) {

   190

        list_del(&pdo->list);

   191

        if (pdo->name) kfree(pdo->name);

   192

   193

        // free all PDO entries

   194

        list_for_each_entry_safe(entry, next_ent, &pdo->entries, list) {

   195

            list_del(&entry->list);

   196

            if (entry->name) kfree(entry->name);

   197

            kfree(entry);

   198

        }

   199

   200

        kfree(pdo);

   201

    }

   202

   203

    if (slave->eeprom_name) kfree(slave->eeprom_name);

   204

    if (slave->eeprom_group) kfree(slave->eeprom_group);

   205

    if (slave->eeprom_desc) kfree(slave->eeprom_desc);

   206

   207

    // free all SDOs

   208

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

   209

        list_del(&sdo->list);

   210

        if (sdo->name) kfree(sdo->name);

   211

   212

        // free all SDO entries

   213

        list_for_each_entry_safe(en, next_en, &sdo->entries, list) {

   214

            list_del(&en->list);

   215

            kfree(en);

   216

        }

   217

        kfree(sdo);

   218

    }

   219

   220

    ec_command_clear(&slave->mbox_command);

   221

}

   222

   223

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

   224

   225

/**

   226

   Reads all necessary information from a slave.

   227

   \return 0 in case of success, else < 0

   228

*/

   229

   230

int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT slave */)

   231

{

   232

    ec_command_t *command;

   233

    unsigned int i;

   234

    uint16_t dl_status;

   235

   236

    command = &slave->master->simple_command;

   237

   238

    // read base data

   239

    if (ec_command_nprd(command, slave->station_address, 0x0000, 6)) return -1;

   240

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   241

        EC_ERR("Reading base data from slave %i failed!\n",

   242

               slave->ring_position);

   243

        return -1;

   244

    }

   245

   246

    slave->base_type =       EC_READ_U8 (command->data);

   247

    slave->base_revision =   EC_READ_U8 (command->data + 1);

   248

    slave->base_build =      EC_READ_U16(command->data + 2);

   249

    slave->base_fmmu_count = EC_READ_U8 (command->data + 4);

   250

    slave->base_sync_count = EC_READ_U8 (command->data + 5);

   251

   252

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   253

        slave->base_fmmu_count = EC_MAX_FMMUS;

   254

   255

    // read data link status

   256

    if (ec_command_nprd(command, slave->station_address, 0x0110, 2)) return -1;

   257

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   258

        EC_ERR("Reading DL status from slave %i failed!\n",

   259

               slave->ring_position);

   260

        return -1;

   261

    }

   262

   263

    dl_status = EC_READ_U16(command->data);

   264

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

   265

        slave->dl_link[i] = dl_status & (1 << (4 + i)) ? 1 : 0;

   266

        slave->dl_loop[i] = dl_status & (1 << (8 + i * 2)) ? 1 : 0;

   267

        slave->dl_signal[i] = dl_status & (1 << (9 + i * 2)) ? 1 : 0;

   268

    }

   269

   270

    // read EEPROM data

   271

    if (ec_slave_sii_read16(slave, 0x0004, &slave->sii_alias))

   272

        return -1;

   273

    if (ec_slave_sii_read32(slave, 0x0008, &slave->sii_vendor_id))

   274

        return -1;

   275

    if (ec_slave_sii_read32(slave, 0x000A, &slave->sii_product_code))

   276

        return -1;

   277

    if (ec_slave_sii_read32(slave, 0x000C, &slave->sii_revision_number))

   278

        return -1;

   279

    if (ec_slave_sii_read32(slave, 0x000E, &slave->sii_serial_number))

   280

        return -1;

   281

    if (ec_slave_sii_read16(slave, 0x0018, &slave->sii_rx_mailbox_offset))

   282

        return -1;

   283

    if (ec_slave_sii_read16(slave, 0x0019, &slave->sii_rx_mailbox_size))

   284

        return -1;

   285

    if (ec_slave_sii_read16(slave, 0x001A, &slave->sii_tx_mailbox_offset))

   286

        return -1;

   287

    if (ec_slave_sii_read16(slave, 0x001B, &slave->sii_tx_mailbox_size))

   288

        return -1;

   289

    if (ec_slave_sii_read16(slave, 0x001C, &slave->sii_mailbox_protocols))

   290

        return -1;

   291

   292

    if (unlikely(ec_slave_fetch_categories(slave))) {

   293

        EC_ERR("Failed to fetch category data!\n");

   294

        return -1;

   295

    }

   296

   297

    return 0;

   298

}

   299

   300

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

   301

   302

/**

   303

   Reads 16 bit from the slave information interface (SII).

   304

   \return 0 in case of success, else < 0

   305

*/

   306

   307

int ec_slave_sii_read16(ec_slave_t *slave,

   308

                        /**< EtherCAT slave */

   309

                        uint16_t offset,

   310

                        /**< address of the SII register to read */

   311

                        uint16_t *target

   312

                        /**< target memory */

   313

                        )

   314

{

   315

    ec_command_t *command;

   316

    cycles_t start, end, timeout;

   317

   318

    command = &slave->master->simple_command;

   319

   320

    // initiate read operation

   321

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   322

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   323

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   324

    EC_WRITE_U32(command->data + 2, offset);

   325

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   326

        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

   327

        return -1;

   328

    }

   329

   330

    start = get_cycles();

   331

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   332

   333

    while (1)

   334

    {

   335

        udelay(10);

   336

   337

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   338

            return -1;

   339

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   340

            EC_ERR("Getting SII-read status failed on slave %i!\n",

   341

                   slave->ring_position);

   342

            return -1;

   343

        }

   344

   345

        end = get_cycles();

   346

   347

        // check for "busy bit"

   348

        if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {

   349

            *target = EC_READ_U16(command->data + 6);

   350

            return 0;

   351

        }

   352

   353

        if (unlikely((end - start) >= timeout)) {

   354

            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);

   355

            return -1;

   356

        }

   357

    }

   358

}

   359

   360

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

   361

   362

/**

   363

   Reads 32 bit from the slave information interface (SII).

   364

   \return 0 in case of success, else < 0

   365

*/

   366

   367

int ec_slave_sii_read32(ec_slave_t *slave,

   368

                        /**< EtherCAT slave */

   369

                        uint16_t offset,

   370

                        /**< address of the SII register to read */

   371

                        uint32_t *target

   372

                        /**< target memory */

   373

                        )

   374

{

   375

    ec_command_t *command;

   376

    cycles_t start, end, timeout;

   377

   378

    command = &slave->master->simple_command;

   379

   380

    // initiate read operation

   381

    if (ec_command_npwr(command, slave->station_address, 0x502, 6)) return -1;

   382

    EC_WRITE_U8 (command->data,     0x00); // read-only access

   383

    EC_WRITE_U8 (command->data + 1, 0x01); // request read operation

   384

    EC_WRITE_U32(command->data + 2, offset);

   385

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   386

        EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);

   387

        return -1;

   388

    }

   389

   390

    start = get_cycles();

   391

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   392

   393

    while (1)

   394

    {

   395

        udelay(10);

   396

   397

        if (ec_command_nprd(command, slave->station_address, 0x502, 10))

   398

            return -1;

   399

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   400

            EC_ERR("Getting SII-read status failed on slave %i!\n",

   401

                   slave->ring_position);

   402

            return -1;

   403

        }

   404

   405

        end = get_cycles();

   406

   407

        // check "busy bit"

   408

        if (likely((EC_READ_U8(command->data + 1) & 0x81) == 0)) {

   409

            *target = EC_READ_U32(command->data + 6);

   410

            return 0;

   411

        }

   412

   413

        if (unlikely((end - start) >= timeout)) {

   414

            EC_ERR("SII-read. Slave %i timed out!\n", slave->ring_position);

   415

            return -1;

   416

        }

   417

    }

   418

}

   419

   420

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

   421

   422

/**

   423

   Writes 16 bit of data to the slave information interface (SII).

   424

   \return 0 in case of success, else < 0

   425

*/

   426

   427

int ec_slave_sii_write16(ec_slave_t *slave,

   428

                         /**< EtherCAT slave */

   429

                         uint16_t offset,

   430

                         /**< address of the SII register to write */

   431

                         uint16_t value

   432

                         /**< new value */

   433

                         )

   434

{

   435

    ec_command_t *command;

   436

    cycles_t start, end, timeout;

   437

   438

    command = &slave->master->simple_command;

   439

   440

    EC_INFO("SII-write (slave %i, offset 0x%04X, value 0x%04X)\n",

   441

            slave->ring_position, offset, value);

   442

   443

    // initiate write operation

   444

    if (ec_command_npwr(command, slave->station_address, 0x502, 8)) return -1;

   445

    EC_WRITE_U8 (command->data,     0x01); // enable write access

   446

    EC_WRITE_U8 (command->data + 1, 0x02); // request write operation

   447

    EC_WRITE_U32(command->data + 2, offset);

   448

    EC_WRITE_U16(command->data + 6, value);

   449

    if (unlikely(ec_master_simple_io(slave->master, command))) {

   450

        EC_ERR("SII-write failed on slave %i!\n", slave->ring_position);

   451

        return -1;

   452

    }

   453

   454

    start = get_cycles();

   455

    timeout = (cycles_t) 100 * cpu_khz; // 100ms

   456

   457

    while (1)

   458

    {

   459

        udelay(10);

   460

   461

        if (ec_command_nprd(command, slave->station_address, 0x502, 2))

   462

            return -1;

   463

        if (unlikely(ec_master_simple_io(slave->master, command))) {

   464

            EC_ERR("Getting SII-write status failed on slave %i!\n",

   465

                   slave->ring_position);

   466

            return -1;

   467

        }

   468

   469

        end = get_cycles();

   470

   471

        // check "busy bit"

   472

        if (likely((EC_READ_U8(command->data + 1) & 0x82) == 0)) {

   473

            if (EC_READ_U8(command->data + 1) & 0x40) {

   474

                EC_ERR("SII-write failed!\n");

   475

                return -1;

   476

            }

   477

            else {

   478

                EC_INFO("SII-write succeeded!\n");

   479

                return 0;

   480

            }

   481

        }

   482

   483

        if (unlikely((end - start) >= timeout)) {

   484

            EC_ERR("SII-write: Slave %i timed out!\n", slave->ring_position);