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

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 *

     3

 *  s l a v e . c

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 *

     5

 *  EtherCAT slave methods.

     6

 *

     7

 *  $Id$

     8

 *

     9

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

    10

 *

    11

 *  This file is part of the IgH EtherCAT Master.

    12

 *

    13

 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

    15

 *  as published by the Free Software Foundation; version 2 of the License.

    16

 *

    17

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

    18

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

    19

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

    22

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

    23

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    24

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

    26

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

    27

    28

#include <linux/module.h>

    29

#include <linux/delay.h>

    30

    31

#include "globals.h"

    32

#include "slave.h"

    33

#include "command.h"

    34

#include "master.h"

    35

    36

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

    37

    38

int ec_slave_fetch_categories(ec_slave_t *);

    39

int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *);

    40

int ec_slave_fetch_general(ec_slave_t *, const uint8_t *);

    41

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

    42

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

    43

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

    44

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

    45

    46

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

    47

    48

EC_SYSFS_READ_ATTR(ring_position);

    49

EC_SYSFS_READ_ATTR(coupler_address);

    50

EC_SYSFS_READ_ATTR(vendor_name);

    51

EC_SYSFS_READ_ATTR(product_name);

    52

EC_SYSFS_READ_ATTR(product_desc);

    53

EC_SYSFS_READ_ATTR(type);

    54

    55

static struct attribute *def_attrs[] = {

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    &attr_ring_position,

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    &attr_coupler_address,

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    &attr_vendor_name,

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    &attr_product_name,

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    &attr_product_desc,

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    &attr_type,

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    NULL,

    63

};

    64

    65

static struct sysfs_ops sysfs_ops = {

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    .show = &ec_show_slave_attribute,

    67

    .store = NULL

    68

};

    69

    70

static struct kobj_type ktype_ec_slave = {

    71

    .release = ec_slave_clear,

    72

    .sysfs_ops = &sysfs_ops,

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    .default_attrs = def_attrs

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};

    75

    76

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

    77

    78

const ec_code_msg_t al_status_messages[];

    79

    80

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

    81

    82

/**

    83

   Slave constructor.

    84

   \return 0 in case of success, else < 0

    85

   \ingroup Slave

    86

*/

    87

    88

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

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

    90

                  uint16_t ring_position, /**< ring position */

    91

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

    92

                  )

    93

{

    94

    unsigned int i;

    95

    96

    slave->ring_position = ring_position;

    97

    slave->station_address = station_address;

    98

    99

    // init kobject and add it to the hierarchy

   100

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

   101

    kobject_init(&slave->kobj);

   102

    slave->kobj.ktype = &ktype_ec_slave;

   103

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

   104

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

   105

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

   106

        kobject_put(&slave->kobj);

   107

        return -1;

   108

    }

   109

   110

    slave->master = master;

   111

    slave->coupler_index = 0;

   112

    slave->coupler_subindex = 0xFFFF;

   113

    slave->base_type = 0;

   114

    slave->base_revision = 0;

   115

    slave->base_build = 0;

   116

    slave->base_fmmu_count = 0;

   117

    slave->base_sync_count = 0;

   118

    slave->sii_alias = 0;

   119

    slave->sii_vendor_id = 0;

   120

    slave->sii_product_code = 0;

   121

    slave->sii_revision_number = 0;

   122

    slave->sii_serial_number = 0;

   123

    slave->sii_rx_mailbox_offset = 0;

   124

    slave->sii_rx_mailbox_size = 0;

   125

    slave->sii_tx_mailbox_offset = 0;

   126

    slave->sii_tx_mailbox_size = 0;

   127

    slave->sii_mailbox_protocols = 0;

   128

    slave->type = NULL;

   129

    slave->registered = 0;

   130

    slave->fmmu_count = 0;

   131

    slave->eeprom_name = NULL;

   132

    slave->eeprom_group = NULL;

   133

    slave->eeprom_desc = NULL;

   134

   135

    ec_command_init(&slave->mbox_command);

   136

   137

    INIT_LIST_HEAD(&slave->eeprom_strings);

   138

    INIT_LIST_HEAD(&slave->eeprom_syncs);

   139

    INIT_LIST_HEAD(&slave->eeprom_pdos);

   140

    INIT_LIST_HEAD(&slave->sdo_dictionary);

   141

   142

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

   143

        slave->dl_link[i] = 0;

   144

        slave->dl_loop[i] = 0;

   145

        slave->dl_signal[i] = 0;

   146

        slave->sii_physical_layer[i] = 0xFF;

   147

    }

   148

   149

    return 0;

   150

}

   151

   152

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

   153

   154

/**

   155

   Slave destructor.

   156

   \ingroup Slave

   157

*/

   158

   159

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

   160

{

   161

    ec_slave_t *slave;

   162

    ec_eeprom_string_t *string, *next_str;

   163

    ec_eeprom_sync_t *sync, *next_sync;

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    ec_eeprom_pdo_t *pdo, *next_pdo;

   165

    ec_eeprom_pdo_entry_t *entry, *next_ent;

   166

    ec_sdo_t *sdo, *next_sdo;

   167

    ec_sdo_entry_t *en, *next_en;

   168

   169

    slave = container_of(kobj, ec_slave_t, kobj);

   170

   171

    // free all string objects

   172

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

   173

        list_del(&string->list);

   174

        kfree(string);

   175

    }

   176

   177

    // free all sync managers

   178

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

   179

        list_del(&sync->list);

   180

        kfree(sync);

   181

    }

   182

   183

    // free all PDOs

   184

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

   185

        list_del(&pdo->list);

   186

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

   187

   188

        // free all PDO entries

   189

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

   190

            list_del(&entry->list);

   191

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

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            kfree(entry);

   193

        }

   194

   195

        kfree(pdo);

   196

    }

   197

   198

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

   199

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

   200

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

   201

   202

    // free all SDOs

   203

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

   204

        list_del(&sdo->list);

   205

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

   206

   207

        // free all SDO entries

   208

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

   209

            list_del(&en->list);

   210

            kfree(en);

   211

        }

   212

        kfree(sdo);

   213

    }

   214

   215

    ec_command_clear(&slave->mbox_command);

   216

}

   217

   218

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

   219

   220

/**

   221

   Reads all necessary information from a slave.

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   \return 0 in case of success, else < 0

   223

   \ingroup Slave

   224

*/

   225

   226

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

   227

{

   228

    ec_command_t *command;

   229

    unsigned int i;

   230

    uint16_t dl_status;

   231

   232

    command = &slave->master->simple_command;

   233

   234

    // read base data

   235

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

   236

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

   237

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

   238

               slave->ring_position);

   239

        return -1;

   240

    }

   241

   242

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

   243

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

   244

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

   245

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

   246

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

   247

   248

    if (slave->base_fmmu_count > EC_MAX_FMMUS)

   249

        slave->base_fmmu_count = EC_MAX_FMMUS;

   250

   251

    // read data link status

   252

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

   253

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

   254

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

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               slave->ring_position);

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        return -1;

   257

    }

   258

   259

    dl_status = EC_READ_U16(command->data);

   260

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

   261

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

   262

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

   263

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

   264

    }

   265

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    // read EEPROM data

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

   268

        return -1;

   269

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

   270

        return -1;

   271

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

   272

        return -1;

   273

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

   274

        return -1;

   275

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

   276

        return -1;

   277

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

   278

        return -1;

   279

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

   280

        return -1;

   281

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

   282

        return -1;

   283

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

   284

        return -1;

   285

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

   286

        return -1;

   287

   288

    if (unlikely(ec_slave_fetch_categories(slave))) {

   289

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

   290

        return -1;

   291

    }

   292

   293

    return 0;

   294

}

   295

   296

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

   297

   298

/**

   299

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

   300

   \return 0 in case of success, else < 0

   301

   \ingroup Slave

   302

*/

   303

   304

int ec_slave_sii_read16(ec_slave_t *slave,

   305

                        /**< EtherCAT slave */

   306

                        uint16_t offset,

   307

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

   308

                        uint16_t *target

   309

                        /**< target memory */

   310

                        )

   311

{

   312

    ec_command_t *command;

   313

    cycles_t start, end, timeout;

   314

   315

    command = &slave->master->simple_command;

   316

   317

    // initiate read operation

   318

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

   319

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

   320

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

   321

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

   322

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

   323

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

   324

        return -1;

   325

    }

   326

   327

    start = get_cycles();

   328

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

   329

   330

    while (1)

   331

    {

   332

        udelay(10);

   333

   334

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

   335

            return -1;

   336

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

   337

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

   338

                   slave->ring_position);

   339

            return -1;

   340

        }

   341

   342

        end = get_cycles();

   343

   344

        // check for "busy bit"

   345

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

   346

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

   347

            return 0;

   348

        }

   349

   350

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

   351

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

   352

            return -1;

   353

        }

   354

    }

   355

}

   356

   357

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

   358

   359

/**

   360

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

   361

   \return 0 in case of success, else < 0

   362

   \ingroup Slave

   363

*/

   364

   365

int ec_slave_sii_read32(ec_slave_t *slave,

   366

                        /**< EtherCAT slave */

   367

                        uint16_t offset,

   368

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

   369

                        uint32_t *target

   370

                        /**< target memory */

   371

                        )

   372

{

   373

    ec_command_t *command;

   374

    cycles_t start, end, timeout;

   375

   376

    command = &slave->master->simple_command;

   377

   378

    // initiate read operation

   379

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

   380

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

   381

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

   382

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

   383

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

   384

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

   385

        return -1;

   386

    }

   387

   388

    start = get_cycles();

   389

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

   390

   391

    while (1)

   392

    {

   393

        udelay(10);

   394

   395

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

   396

            return -1;

   397

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

   398

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

   399

                   slave->ring_position);

   400

            return -1;

   401

        }

   402

   403

        end = get_cycles();

   404

   405

        // check "busy bit"

   406

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

   407

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

   408

            return 0;

   409

        }

   410

   411

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

   412

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

   413

            return -1;

   414

        }

   415

    }

   416

}

   417

   418

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

   419

   420

/**

   421

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

   422

   \return 0 in case of success, else < 0

   423

   \ingroup Slave

   424

*/

   425

   426

int ec_slave_sii_write16(ec_slave_t *slave,

   427

                         /**< EtherCAT slave */

   428

                         uint16_t offset,

   429

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

   430

                         uint16_t value

   431

                         /**< new value */

   432

                         )

   433

{

   434

    ec_command_t *command;

   435

    cycles_t start, end, timeout;

   436

   437

    command = &slave->master->simple_command;

   438

   439

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

   440

            slave->ring_position, offset, value);

   441

   442

    // initiate write operation

   443

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

   444

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

   445

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

   446

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

   447

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

   448

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

   449

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

   450

        return -1;

   451

    }

   452

   453

    start = get_cycles();

   454

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

   455

   456

    while (1)

   457

    {

   458

        udelay(10);

   459

   460

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

   461

            return -1;

   462

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

   463

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

   464

                   slave->ring_position);

   465

            return -1;

   466

        }

   467

   468

        end = get_cycles();

   469

   470

        // check "busy bit"

   471

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

   472

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

   473

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

   474

                return -1;

   475

            }

   476

            else {

   477

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

   478

                return 0;

   479

            }

   480

        }

   481

   482

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

   483

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

   484

            return -1;